fepl-02 ethernet powerlink adapter module user’s manual · list of related manuals see section...
TRANSCRIPT
—OPTION FOR ABB DRIVES, CONVERTERS AND INVERTERS
FEPL-02 Ethernet POWERLINK adapter moduleUser’s manual
—List of related manualsSee section Related manuals on page 15.
You can find manuals and other product documents in PDF format on the Internet. See section Document library on the Internet on the inside of the back cover. For manuals not available in the Document library, contact your local ABB representative.
The code below opens an online listing of the manuals applicable to the product:
Fieldbus connectivity webpageFEPL-02 manual
6. Start-up
User’s manual
FEPL-02 Ethernet POWERLINK adapter module
3AUA0000123527 Rev BENEFFECTIVE: 2018-03-16
2018 ABB OyAll Rights Reserved.
1. Safety instructions
Table of contents
4. Mechanical installation
5. Electrical installation
Table of contents 5
Table of contents
1. Safety instructions
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2. About the manual
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Terms and abbreviations used in this manual . . . . . . . . . . . . . . 17
General terms and abbreviations . . . . . . . . . . . . . . . . . . . . 17Ethernet POWERLINK terms and abbreviations . . . . . . . . . 17
Cybersecurity disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3. Overview of the Ethernet POWERLINK network and the FEPL-02 module
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Ethernet POWERLINK network . . . . . . . . . . . . . . . . . . . . . . . . . 21
Example topology of the Ethernet POWERLINK link . . . . . 22FEPL-02 Ethernet POWERLINK adapter module . . . . . . . . . . . 23
Layout of the FEPL-02 adapter module . . . . . . . . . . . . . . . . 24
4. Mechanical installationWhat this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 25Unpacking and examining the delivery . . . . . . . . . . . . . . . . . . . 25Installing the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6 Table of contents
5. Electrical installationWhat this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Necessary tools and instructions . . . . . . . . . . . . . . . . . . . . . . . . 29General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30Connecting the adapter module to the Ethernet POWERLINK net-work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6. Start-up
What this chapter contains: . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Ethernet POWERLINK connection configuration . . . . . . . . . 32FEPL-02 configuration parameters – group A (group 1) 33FEPL-02 configuration parameters – group B (group 2) 38FEPL-02 configuration parameters – group C (group 3) 38
Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Starting up ACS355 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Parameter setting examples – ACS355 . . . . . . . . . . . . . . . . 41Speed control using the CiA 402 velocity mode (vl) . . . . 41Speed and torque control using ABB Drives communication profile. . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Starting up ACSM1 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 47
Position control with the CiA 402 profile position mode (pp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Starting up ACS850 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50Parameter setting examples – ACS850 . . . . . . . . . . . . . . . . 51
Speed control using the CiA 402 velocity mode (vl) . . . . 51Speed control using the ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Starting up ACS380, ACS580 and ACS880 drives . . . . . . . . . . 55Parameter setting examples – ACS380, ACS580 and ACS880 56
Speed control using the ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Configuring the master station . . . . . . . . . . . . . . . . . . . . . . . . . . 58Downloading an XML Device Description File (XDD) . . . . . 58
Table of contents 7
Configuring a B&R PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Adding the .xdd file. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Associating the adapter module with the PLC . . . . . . . . 61Mapping objects required for controlling the drive . . . . . 66Building a project and transfering it to the PLC . . . . . . . 68Forcing values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7. Communication profilesWhat this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73CANopen device profile CiA 402 . . . . . . . . . . . . . . . . . . . . . . . . 75
Supported modes of operation . . . . . . . . . . . . . . . . . . . . . . 75Velocity mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75Profile torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76Profile velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 76Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 76Homing mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Process data scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Torque data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Velocity data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Position data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Process feedback values . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . 78
Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 78Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . . 80State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . 83Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . 83
Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 83Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . . 85State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
8 Table of contents
8. Communication protocolWhat this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91Ethernet POWERLINK communication cycle . . . . . . . . . . . . . . . 91Ethernet POWERLINK state machine . . . . . . . . . . . . . . . . . . . . 92
NMT_GS_INITIALISATION . . . . . . . . . . . . . . . . . . . . . . . . . 92NMT_GS_COMMUNICATING . . . . . . . . . . . . . . . . . . . . . . . 93
NMT_CS_NOT_ACTIVE . . . . . . . . . . . . . . . . . . . . . . . . 93The NMT_CS_PREOPERATIONAL states . . . . . . . . . . 94NMT_CS_READY_TO_OPERATE . . . . . . . . . . . . . . . . 94NMT_CS_OPERATIONAL . . . . . . . . . . . . . . . . . . . . . . . 94NMT_CS_STOPPED . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
DS 301 and DS 402 specification . . . . . . . . . . . . . . . . . . . . . . . . 96Process Data Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96Service Data Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
SDO Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97Network Management Services . . . . . . . . . . . . . . . . . . . . . . . . . 98
NMT State Command Services . . . . . . . . . . . . . . . . . . . . . . 98NMT Response Services . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Error entry specification . . . . . . . . . . . . . . . . . . . . . . . . . 99
9. DiagnosticsWhat this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101Fault and warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . 101LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
10. Technical dataWhat this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105FEPL-02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106Ethernet POWERLINK link . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
11. Appendix A – CANopen Object DictionaryWhat this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109Object Dictionary structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109Communication profile objects . . . . . . . . . . . . . . . . . . . . . . . . . 111Manufacturer-specific profile objects . . . . . . . . . . . . . . . . . . . . 119Actual signals and parameters of the drive . . . . . . . . . . . . . . . 121
Table of contents 9
CiA 402 profile objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
12. Appendix B – CANopen error codesWhat this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
13. Appendix C – IdentResponse FrameWhat this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135NMT Service Slot structure of IdentResponse . . . . . . . . . . . . . 136NMT Service Slot data fields of IdentResponse . . . . . . . . . . . 137
Further information
Safety instructions 11
1Safety instructions
What this chapter contains
The chapter contains the warning symbols used in this manual and the safety instructions which you must obey when you install or connect an optional module to a drive, converter or inverter. If you ignore the safety instructions, injury, death or damage can occur. Read this chapter before you start the installation.
Use of warnings
Warnings tell you about conditions which can cause injury or death and, or damage to the equipment. They also tell you how to prevent the danger. The manual uses these warning symbols:
Electricity warning tells you about hazards from electricity which can cause injury or death, or damage to the equipment.
12 Safety instructions
General warning tells you about conditions, other than those caused by electricity, which can cause injury or death, or damage to the equipment.
Safety in installation
These instructions are for all who install or connect an optional module to a drive, converter or inverter and need to open its front cover or door to do the work.
WARNING! Obey these instructions. If you ignore them, injury or death, or damage to the equipment can occur.
• If you are not a qualified electrician, do not do installation or maintenance work.
• Disconnect the drive, converter or inverter from all possible power sources. After you have disconnected the drive, converter or inverter, always wait for 5 minutes to let the intermediate circuit capacitors discharge before you continue.
• Disconnect all dangerous voltages connected to other control signal connectors in reach. For example, it is possible that 230 V AC is connected from outside to a relay output of the drive, converter or inverter.
• Always use a multimeter to make sure that there are no parts under voltage in reach. The impedance of the multimeter must be at least 1 Mohm.
About the manual 13
2About the manual
What this chapter contains
This chapter introduces this manual.
Purpose of the manual
The manual provides information on installing, commissioning and using the FEPL-02 Ethernet POWERLINK adapter module.
Applicability
This manual applies to the FEPL-02 Ethernet POWERLINK adapter module, software version 1.0 or later.
Target audience
This manual is intended for people who plan the installation, install, start up, use and service the adapter module. Before you do work on the module, read this manual and the applicable drive manual that contains the hardware and safety instructions for the product in question.
You are expected to know the fundamentals of electricity, wiring, electrical components and electrical schematic symbols.
The manual is written for readers worldwide. Both SI and imperial units are shown.
14 About the manual
Compatibility
The FEPL-02 Ethernet POWERLINK adapter module is compatible with different ABB drives and solar inverters.• ACS355
• ACSM1
• ACH580
• ACS580
• ACS850
• ACQ810
• ACS880.
The FEPL-02 Ethernet POWERLINK adapter module is compatible with all master stations that support the Ethernet POWERLINK protocol.
Note: The adapter module is compatible with more drives that may not be listed here. For details of compatibility, check the drive’s firmware manual.
Before you start
It is assumed that the drive is installed and ready to operate before you start the installation of the adapter module.
In addition to conventional installation tools, have the drive manuals available during the installation as they contain important information not included in this manual. The drive manuals are referred to at various points of this manual.
About the manual 15
Related manuals
Drive user’s manuals Code (English)ACS355 drives (0.37…22 kW, 0.5…30 hp) user’s manual
3AUA0000066143
Drive hardware manuals and guidesACSM1 manuals 00578051ACQ810 manuals 00598718ACS850-04 manuals 00592009ACS850-04 manuals 00592009ACH580-01 manuals 9AKK10103A0587ACH580-04 manuals 9AKK106930A9059ACH580-07 manuals 9AKK106930A5241ACS580-01 manuals 9AKK105713A8085ACS580-04 manuals 9AKK106930A9060ACS580-07 (75 to 250 kW) manuals 9AKK106930A5239ACS580-07 (250 to 500 kW) manuals 9AKK106713A0278ACS880-01 manuals 9AKK105408A7004ACS880-04 manuals 9AKK105713A4819ACS880-07 manuals 9AKK105408A8149ACS880-07 (560 to 2800 kW) 9AKK105713A6663ACS880-17 (132 to 355 kW) 9AKK106930A3466ACS880-17 (160 to 3200 kW) 9AKK106354A1499ACS880-37 (132 to 355 kW) 9AKK106930A3467ACS880-37 (160 to 3200 kW) 9AKK106354A1500
Option manuals and guidesFEPL-02 Ethernet POWERLINK adapter user’s manual
3AUA0000123527
16 About the manual
Contents
The manual consists of the following chapters:• Safety instructions contains the safety instructions which you
must follow when installing a fieldbus adapter module.
• About the manual introduces this manual.
• Overview of the Ethernet POWERLINK network and the FEPL-02 module contains a short description of the Ethernet POWERLINK network and the adapter module.
• Mechanical installation contains a delivery checklist and instructions to install the adapter module.
• Electrical installation contains instructions on cabling and connecting the module to the Ethernet POWERLINK network.
• Start-up presents the steps to take during the start-up of the drive with the adapter module and gives examples of configuring the master.
• Communication profiles describes the communication profiles used in the communication between the master, the adapter module and the drive.
• Communication protocol describes the Ethernet POWERLINK protocol for the adapter module.
• Diagnostics explains how to trace faults with the status LEDs on the adapter module.
• Technical data contains the technical data of the adapter module and the Ethernet POWERLINK link.
• Appendix A – CANopen Object Dictionary contains a list of the CANopen objects supported by the adapter module.
• Appendix B – CANopen error codes contains a list of the CANopen error codes.
• Appendix C – IdentResponse Frame contains the contents of the IdentResponse Frame.
About the manual 17
Terms and abbreviations used in this manual
General terms and abbreviations
Ethernet POWERLINK terms and abbreviations
Term/abbreviation Explanation
Command word See Control word.
Communication module Communication module is a name for a device (eg, a fieldbus adapter) through which the drive is connected to an external communication network (eg, a fieldbus). The communication with the module is activated with a drive parameter.
Control word 16-bit or 32-bit word from master to slave with bit-coded control signals (sometimes called the Command word).
FEPL-02 Ethernet POWERLINK adapter module
One of the optional fieldbus adapter modules available for ABB drives. FEPL-02 is a device through which an ABB drive is connected to an Ethernet POWERLINK network.
Parameter Operating instruction for the drive. Parameters can be read and programmed with the drive control panel, drive PC tools or through the adapter module.
Profile Adaptation of the protocol for certain application field, for example, drives.In this manual, drive-internal profiles (eg, DCU or FBA) are called native profiles.
Status word 16-bit or 32-bit word from slave to master with bit-coded status messages.
Term/abbreviation Explanation
CN Controlled Node; A node in a POWERLINK network without the ability to manage the SCNM mechanism.
Device description file All device-specific information is stored in the Device Description File (XDD) of each device.
18 About the manual
MN Managing Node; A node capable of managing the SCNM mechanism in a POWERLINK network.
Object Dictionary A local storage of all communication objects recognized by the device.
OSI Open Systems Interconnection.
PDO Process Data Object; Used for transmitting time critical data, such as control commands, references and actual values.
PReq PollRequest; A frame used in the isochronous phase of the cyclic communication. With PollRequest, the MN requests the CN to send its data.
PRes PollResponse; A frame used in the isochronous phase of the cyclic communication. The CN responses with a PollResponse frame when it receives a PollRequest from the MN.
R Read-only access.
RW Read-write access.
SCNM Slot Communication Network Management; In a POWERLINK network, the MN allocates data transfer time for data from each node in a cyclic manner within a guaranteed cycle time. Within each cycle there are slots for Isochronous Data, and for Asynchronous Data for ad-hoc communication. The SCNM mechanism ensures that there are no collisions during physical network access in any of the networked nodes. Thus, it provides deterministic communication via Legacy Ethernet.
SDO Service Data Object; Used for transmitting non time critical data, such as parameters.
Term/abbreviation Explanation
About the manual 19
Cybersecurity disclaimer
This product is designed to be connected to and to communicate information and data via a network interface. It is Customer's sole responsibility to provide and continuously ensure a secure connection between the product and Customer network or any other network (as the case may be). Customer shall establish and maintain any appropriate measures (such as but not limited to the installation of firewalls, application of authentication measures, encryption of data, installation of anti-virus programs, etc.) to protect the product, the network, its system and the interface against any kind of security breaches, unauthorized access, interference, intrusion, leakage and/or theft of data or information. ABB and its affiliates are not liable for damages and/or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.
Note: The web pages are meant only for configuring the device during commissioning. For security reasons, it is recommended to disable the web pages after commissioning.
Overview of the Ethernet POWERLINK network and the FEPL-02 module 21
3Overview of the Ethernet POWERLINK network and the FEPL-02 module
What this chapter contains
This chapter contains a short description of the Ethernet POWERLINK network and the FEPL-02 Ethernet POWERLINK adapter module.
Ethernet POWERLINK network
Ethernet POWERLINK is a communication profile for Real Time Ethernet. It extends standard Ethernet IEEE802.3 with a mechanism to transfer data deterministically. The mechanism is called Slot Communication Network Management (SCNM). SCNM is managed by a networked device designated as the Managing Node (MN). All other nodes are Controlled Nodes (CN).
Unlike standard Ethernet, SCNM ensures that only one node is accessing the network at a time. The schedule is divided into an isochronous phase and an asynchronous phase. During the isochronous phase, time-critical data is transfered, while the asynchronous phase provides bandwidth for the transmission of data that is not time-critical. The MN grants access to the physical medium via dedicated poll request messages. As a result, only one CN has access to the network at a time, and thus no collisions occur.
22 Overview of the Ethernet POWERLINK network and the FEPL-02 module
The Ethernet POWERLINK network applies the same protocol technology as CANopen. It defines Service Data Objects (SDO), Process Data Objects (PDO) and the Object Dictionary structure to manage the parameters.
The Ethernet POWERLINK network may have a star, tree, daisy chain or ring structure. The network can also be a combination of these topologies. The use of repeating hubs instead of switches is recommended to minimize delay and jitter. Use class 2 hubs. FEPL-02 has an internal hub, and thus, no external hub is required.
Further information is available from the Ethernet POWERLINK Standardization Group (www.ethernet-powerlink.org).
Example topology of the Ethernet POWERLINK link
The figure shows an example of an allowable topology for an Ethernet POWERLINK master with FEPL-02.
Adaptermodule
Adaptermodule
Ethernet POWERLINK master
X2
X1
X1 X2 X1 X2
Overview of the Ethernet POWERLINK network and the FEPL-02 module 23
FEPL-02 Ethernet POWERLINK adapter module
The FEPL-02 Ethernet POWERLINK adapter module is an optional device for ABB drives which enables the connection of the drive to an Ethernet POWERLINK network. The module is classified as a full Ethernet POWERLINK slave.
Through the adapter module you can:• give control commands to the drive (for example, Start, Stop,
Run enable)
• feed a motor speed or torque reference to the drive
• give a process actual value or a process reference to the PID controller of the drive
• read status information and actual values from the drive
• change drive parameter values
• reset a drive fault.
The Ethernet POWERLINK commands and services supported by the adapter module are described in chapter Communication protocol. Refer to the user documentation of the drive as to which commands are supported by the drive.
The adapter module is installed into an option slot on the drive control unit. See the drive manuals for module placement options.
24 Overview of the Ethernet POWERLINK network and the FEPL-02 module
Layout of the FEPL-02 adapter module
No. Description See chapter
1 Lock Mechanical installation
2 Mounting screw Mechanical installation
3 Connector X1 to Ethernet POWERLINK
Electrical installation
4 Connector X2 to Ethernet POWERLINK
Electrical installation
5 Diagnostic LEDs Diagnostics
6 MAC address -
1
2
3 4
5
6
Mechanical installation 25
4Mechanical installation
What this chapter contains
This chapter contains a delivery checklist and instructions to install the adapter module.
Necessary tools and instructions
You will need a Torx TX10 screwdriver to secure the FEPL adapter module to the drive. See also, the applicable drive hardware manual.
Unpacking and examining the delivery
1. Open the option package.
2. Make sure that the package contains:
• Ethernet POWERLINK adapter module, type FEPL-02
• this manual.
3. Make sure that there are no signs of damage.
26 Mechanical installation
Installing the adapter module
WARNING! Obey the safety instructions. See chapter Safety instructions on page 11. If you ignore the safety instructions, injury or death can occur.
The adapter module has a specific position in the drive. Plastic pins, a lock and one screw to hold the adapter module in place. The screw also makes an electrical connection between the module and drive frame for cable shield termination.
When the adapter module is installed, it makes the signal and power connection to the drive through a 20-pin connector.
When you install or remove the adapter module from the control unit:
1. Pull out the lock.
1
Mechanical installation 27
2. Put the adapter module carefully into its position on the drive.
3. Push in the lock.
4. Tighten the screw to torque 0.8 N·m using a Torx TX10 screwdriver.
Note: A too high torque may break the screws. It is necessary to tighten the screw properly to fulfill the EMC requirements and to ensure the proper operation of the module.
See the applicable drive manual for further instructions on how to install the adapter module to the drive.
3
4
Electrical installation 29
5Electrical installation
What this chapter contains
This chapter contains:• general cabling instructions
• instructions on connecting the adapter module to the Ethernet POWERLINK network.
WARNING! Obey the safety instructions. See chapter Safety instructions on page 11. If you ignore the safety instructions, injury or death can occur. If you are not a
qualified electrician, do not do electrical work.
Necessary tools and instructions
See the applicable drive hardware manual.
30 Electrical installation
General cabling instructions• Arrange the bus cables as far away from the motor cables as
possible.
• Avoid parallel runs.
• Use bushings at cable entries.
Connecting the adapter module to the Ethernet POWERLINK network
1. Connect the network cables to the two RJ-45 connectors (X1 and X2) on the adapter module.
Connect the cable from the master to the left port (X1).
2. In the line topology, if there are more slave devices in the same line, connect the next slave device to the right port (X2).
3. If there is a redundant ring, connect the right port (X2) of the last slave device to the second port of the master.
The figure below illustrates the cable connections.
Adaptermodule
Adaptermodule
Adaptermodule
Ethernet POWERLINK master
X2
X1
X1 X2 X1 X2 X1 X2
Start-up 31
6Start-up
What this chapter contains:
This chapter contains:• information on configuring the drive for operation with the
adapter module
• drive-specific instructions and examples on starting up the drive with the adapter module
• example of configuring the master station for communication with the adapter module.
WARNING! Obey the safety instructions given in this manual and the drive documentation.
32 Start-up
Drive configuration
The following information applies to all drive types compatible with the adapter module, unless otherwise stated.
Ethernet POWERLINK connection configuration
After the adapter module has been installed according to the instructions in chapters Mechanical installation and Electrical installation, you must prepare the drive for communication with the module.
The detailed procedure of activating the module for POWERLINK communication with the drive depends on the drive type. Normally, you must adjust a parameter to activate the communication. See the drive-specific start-up procedures starting on page 40.
Once communication between the drive and the adapter module has been established, several configuration parameters are copied to the drive. These parameters are shown in the tables below and must be checked first and adjusted where necessary.
Note that not all drives display descriptive names for the configuration parameters. To help you identify the parameters in different drives, the names displayed by each drive are given in grey boxes in the tables.
Note: The new settings take effect only when the adapter module is powered up the next time or when the fieldbus adapter refresh parameter is activated.
Start-up 33
FEPL-02 configuration parameters – group A (group 1)
Note: The actual parameter group number depends on the drive type. Group A (group 1) corresponds to: • parameter group 51 in ACS355, ACS380, ACSM1, ACS580,
ACS850 and ACQ810
• parameter group 51 in ACS880 if the adapter is installed as fieldbus adapter A or group 54 if the adapter is installed as fieldbus adapter B.
No. Name/Value Description Default
01 FBA type Read-only. Shows the fieldbus adapter type as detected by the drive. The value cannot be adjusted by the user. If the value is 0 = None, the communication between the drive and the module has not been established.
136 = ETH Pwrlink
02 Profile Selects the communication profile for thenetwork connection.
0 = CiA 402
0 = CiA 402 CANopen device profile CiA 402
1 = ABB Drives profile
ABB Drives profile
2 = Transparent16 Transparent 16 profile
3 = Transparent32 Transparent 32 profile
03 Node ID Defines the node number of the device. Two units with the same address are not allowed on-line.
1
0…239 Node number
34 Start-up
04 T16 scale Defines the reference multiplier/actual value divisor for the adapter module. The parameter is effective only when the Transparent 16 profile is selected AND the drive is using the native communication profile (eg, DCU or FBA) and a 16-bit transparent Reference 1/Actual value 1.
With an ACS355 drive, the speed referencefrom the PLC is multiplied by the value of this parameter plus one. For example, if theparameter has a value of 99 and a reference of 1000 given by the master, the reference will be multiplied by 99 + 1 = 100 and forwarded to the drive as 100000. According to the DCU profile, this value is interpreted as a reference of 100 rpm in the drive.
With ACSM1, ACS850, ACQ810 and ACS880, setting this parameter to 65535 provides the approximation of 1 = 1 rpm.
99
0…65535 Reference multiplier/actual value divisor
05 X1 MDI/MDIX Defines the cable type connected to the port.The auto MDI/MDIX detection feature is enabled by default. For each port, you can disable auto MDI/MDIX and designate the port as MDI port or designate the port as MDIX port. Connect MDI port to MDIX port via straight-through twisted pair cabling. Both MDI-to-MDI and MDIX-to-MDIX connections use crossover twisted pair cabling.
0 = Auto
0 = Auto Auto detect.
1 = MDI Designates the port as MDI port.
2 = MDIX Designates the port as MDIX port.
No. Name/Value Description Default
Start-up 35
06 X2 MDI/MDIX Defines the cable type connected to the port.The auto MDI/MDIX detection feature is enabled by default. For each port, you can disable auto MDI/MDIX and designate the port as MDI port or designate the port as MDIX port. Connect MDI port to MDIX port via straight-through twisted pair cabling. Both MDI-to-MDI and MDIX-to-MDIX connections use crossover twisted pair cabling.
0 = Auto
0 = Auto Auto detect.
1 = MDI Designates the port as MDI port.
2 = MDIX Designates the port as MDIX port.
07…25
Reserved These parameters are not used by the adapter module.
N/A
26 Restore def conf Reverts the module to the factory settings by restoring the default values of the CANopen objects and the configuration parameters. The object values that have been stored to the non-volatile memory are also erased.When this parameter is set to 1 = Yes, the default values are restored at the next power-up or when configuration parameters are validated with parameter 27 FBA A/B par refresh.
0 = No
0 = No Do not restore default settings.
1 = Yes Restore default settings.
27 FBA A/B par refresh
Validates any changed adapter module configuration parameter settings. After refreshing, the value reverts automatically to 0 = Done.Note: This parameter cannot be changed while the drive is running.
0 = Done
0 = Done Refreshing done
1 = Refresh / Configure
Refreshing
No. Name/Value Description Default
36 Start-up
28 FBA A/B par tablever
Read-only. Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive.In format xyz, where x = major revision numbery = minor revision numberz = correction numberORin format axyz, where a = major revision numberxy = minor revision numberz = correction number or letter.
N/A
Parameter table revision
29 FBA A/B drive typecode
Read-only. Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive.
N/A
Drive type code of the fieldbus adapter module mapping file
30 FBA A/B mappingfile ver
Read-only. Displays the fieldbus adapter module mapping file revision stored in the memory of the drive in decimal format.
N/A
Mapping file revision
31 D2FBA A/B commstatus
Read-only. Displays the status of the fieldbus adapter module communication.Note: The value names may vary by drive.
0 = IdleOR4 = Off-line
0 = Idle Adapter is not configured.
1 = Exec.init Adapter is initializing.
2 = Time out A timeout has occurred in the communication between the adapter and the drive.
3 = Conf.err Adapter configuration error: The major or minor revision code of the common program revision in the fieldbus adapter module is not the revision required by the module or mapping file upload has failed more than three times.
4 = Off-line Adapter is off-line.
5 = On-line Adapter is on-line.
6 = Reset Adapter is performing a hardware reset.
No. Name/Value Description Default
Start-up 37
32 FBA A/B comm SW ver
Read-only. Displays the common program revision of the adapter module in format axyz, where:a = major revision numberxy = minor revision numberz = correction number or letter.
N/A
Common program revision of the adapter module
33 FBA A/B appl SWver
Read-only. Displays the application program revision of the adapter module in format axyz, where:a = major revision numberxy = minor revision numberz = correction number or letter.
N/A
Application program revision of the adapter module
No. Name/Value Description Default
38 Start-up
FEPL-02 configuration parameters – group B (group 2)
Note: The actual parameter group number depends on the drive type. Group B (group 2) corresponds to: • parameter group 55 in ACS355
• parameter group 53 in ACSM1, ACS380, ACS580 and ACS850
• parameter group 53 in ACS880 if the adapter is installed as fieldbus adapter A or group 56 if the adapter is installed as fieldbus adapter B.
All parameters in this group are handled by the adapter module automatically. Do not modify the settings of these parameters.
FEPL-02 configuration parameters – group C (group 3)
Note: The actual parameter group number depends on the drive type. Group C (group 3) corresponds to:• parameter group 54 in ACS355
• parameter group 52 in ACSM1, ACS380, ACS580 and ACS850
• parameter group 52 in ACS880 if the adapter is installed as fieldbus adapter A or group 55 if the adapter is installed as fieldbus adapter B.
All parameters in this group are handled by the adapter module automatically. Do not modify the settings of these parameters.
Start-up 39
Control locations
ABB drives can receive control information from multiple sources including digital inputs, analog inputs, the drive control panel and a communication module (for example, the adapter module). ABB drives allow the user to separately determine the source for each type of control information (Start, Stop, Direction, Reference, Fault reset, etc.).
To give the fieldbus master station the most complete control over the drive, the communication module must be selected as the source for this information. The drive-specific parameter setting examples below contain the drive control parameters needed in the examples. For a complete parameter list, see the drive documentation.
40 Start-up
Starting up ACS355 drives
1. Power up the drive.
2. Enable the communication between the adapter module and the drive with parameter 9802 COMM PROT SEL.
3. Set the FEPL configuration parameters in group 51.
• Select the communication profile with parameter 5102.
• Configure the network settings with parameters 5103 and 5104.
4. With parameter 3018 COMM FAULT FUNC, select how the drive reacts to a fieldbus communication break.
5. With parameter 3019 COMM FAULT TIME, define the time between communication break detection and the selected action.
6. Validate the settings made in parameter group 51 with parameter 5127 FBA PAR REFRESH.
7. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below.
Start-up 41
Parameter setting examples – ACS355
Speed control using the CiA 402 velocity mode (vl)
This example shows how to configure a speed control application that uses the velocity mode (vl) of the CiA 402 profile.
When configuring the master, you need to map the following objects to the transmit and receive PDOs. For an example, see section Mapping objects required for controlling the drive on page 66.
The table below gives the recommended drive parameter settings.
CANopen object
Output data CANopen object
Input data
0x6040 Control word 0x6041 Status word
0x6042 Target velocity 0x6044 Vl control effort
Drive parameter Setting for ACS355 drives
Description
9802 COMM PROT SEL 4 = EXT FBA Enables communication between the drive and the fieldbus adapter module.
5101 FBA TYPE 136 = ETH Pwrlink1) Displays the type of the fieldbus adapter module.
5102 FB PAR 2 (PROFILE)
0 (= CiA 402) Selects the CANopen device profile CiA 402.
5103 FB PAR 3 (NODE ID)
32) Defines the address of the device.
3018 COMM FAULT FUNC
1 = FAULT2) Enables fieldbus communication fault monitoring.
3019 COMM FAULT TIME
3.0 s2) Defines the fieldbus communication break supervision time.
5127 FBA PAR REFRESH
1 = REFRESH Validates the FEPL configuration parameter settings.
42 Start-up
The start sequence for the parameter example above is given below.
Control word:• Reset the fieldbus communication fault (if active).
• Enter 7Eh (126 decimal) → SWITCH-ON DISABLED.
• Enter 7Fh (127 decimal) → OPERATION ENABLED.
1001 EXT1COMMANDS
10 = COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 1.
1102 EXT1/EXT2 SEL 0 = EXT1 Enables external control location 1/2 selection through the fieldbus.
1103 REF1 SELECT 8 = COMM Selects the fieldbus reference 1 as the source of the speed reference.
1601 RUN ENABLE 7 = COMM Selects the fieldbus interface as the source for the inverted Run enable signal (Run disable).
1604 FAULT RESET SEL
8 = COMM Selects the fieldbus interface as the source for the fault reset signal.
1) Read-only or automatically detected/set2) Example
Drive parameter Setting for ACS355 drives
Description
Start-up 43
Speed and torque control using ABB Drives communication profile
This example shows how to configure a speed and torque control application that uses the ABB Drives profile. In addition, some application-specific data is added to the communication.
The start/stop commands and references are according to the ABB Drives profile. For more information, see the state machine on page 87.
When reference 1 (REF1) is used, reference value ±20000 (decimal) corresponds to the reference set with parameter 1105 REF1 MAX in the forward and reverse directions.
When reference 2 (REF2) is used, a reference value of ±10000 (decimal) corresponds to the reference set with parameter 1108 REF2 MAX in the forward and reverse directions.
The minimum and maximum 16-bit integer values that can be given through the fieldbus are -32768 and 32767 respectively.
When configuring the master, you need to map the following objects to the transmit and receive PDOs. For an example, see section Mapping objects required for controlling the drive on page 66.
The table below gives the recommended drive parameter settings.
CANopen object
Output data CANopen object
Input data
0x2101 Control word 0x2104 Status word
0x2102 Speed reference 0x2105 Speed actual value
0x2103 Torque reference 0x2106 Torque actual value
Drive parameter Setting for ACS355 drives
Description
9802 COMM PROT SEL 4 = EXT FBA Enables communication between the drive and the fieldbus adapter module.
5101 FBA TYPE 136 = ETH Pwrlink1) Displays the type of the fieldbus adapter module.
5102 FB PAR 2 (PROFILE)
1 (= ABB Drives profile)
Selects the ABB Drives profile.
44 Start-up
5103 FB PAR 3 (NODE ID)
32) Defines the address of the device.
3018 COMM FAULT FUNC
1 = FAULT2) Enables fieldbus communication fault monitoring.
3019 COMM FAULT TIME
3.0 s2) Defines the fieldbus communication break supervision time.
5127 FBA PAR REFRESH
1 = REFRESH Validates the FEPL configuration parameter settings.
9904 MOTOR CTRL MODE
2 = VECTOR: TORQ Selects the vector control mode as the motor control mode.
1001 EXT1COMMANDS
10 = COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 1.
1002 EXT2COMMANDS
10 = COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 2.
1102 EXT1/EXT2 SEL 8 = COMM Enables external control location 1/2 selection through the fieldbus.
1103 REF1 SELECT 8 = COMM Selects the fieldbus reference 1 as the source of the speed reference.
1106 REF2 SELECT 8 = COMM Selects the fieldbus reference 2 as the source of the torque reference.
1601 RUN ENABLE 7 = COMM Selects the fieldbus interface as the source for the inverted Run enable signal (Run disable).
1604 FAULT RESET SEL
8 = COMM Selects the fieldbus interface as the source for the fault reset signal.
1) Read-only or automatically detected/set2) Example
Drive parameter Setting for ACS355 drives
Description
Start-up 45
The start sequence for the parameter example above is given below.
Control word:• Reset the fieldbus communication fault (if active).
• Enter 47Eh (1150 decimal) → READY TO SWITCH ON
• Enter 47Fh (1151 decimal) → OPERATING (Speed mode)
or
C7Fh (3199 decimal) → OPERATING (Torque mode).
46 Start-up
Starting up ACSM1 drives
1. Power up the drive.
2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA ENABLE.
3. With parameter 50.02 COMM LOSS FUNC, select how the drive reacts to a fieldbus communication break.
Note: This function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive.
4. With parameter 50.03 COMM LOSS T OUT, define the time between communication break detection and the selected action.
5. Select application-specific values for parameters 50.04…50.11. Examples of appropriate values are shown in the tables below.
6. Set the FEPL configuration parameters in group 51.
• Select the communication profile with parameter 51.02.
• Configure the network settings with parameters 51.03 and 51.04.
7. Validate the settings made in parameter group 51 with parameter 51.27 FBA PAR REFRESH.
8. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below.
Start-up 47
Parameter setting examples – ACSM1
Position control with the CiA 402 profile position mode (pp)
This example shows how to configure a basic positioning application for an ACSM1 motion control drive. The start/stop commands and reference are according to the profile position mode (pp) of the CiA 402 profile.
When configuring the master, you need to map the following objects to the transmit and receive PDOs. For an example, see section Mapping objects required for controlling the drive on page 66.
The target position and actual value are defined as 32-bit integer values; both are scaled as defined by drive parameter settings. The target position (reference) and the position actual value are scaled as follows:
CANopen object
Output data CANopen object
Input data
0x6040 Control word 0x6041 Status word
0x607A Target position 0x6064 Position actual value
Drive parameter Setting
60.05 POS UNIT (Position unit) m
60.08 POS2INT SCALE 100
1000 / 100 = 10.00 m
60.05 POS UNIT
Physical value
60.08 POS2INT SCALE
Set point value
48 Start-up
The table below gives the recommended drive parameter settings.
Drive parameter Setting for ACSM1 drives
Description
50.01 FBA ENABLE ENABLE Enables communication between the drive and the fieldbus adapter module.
50.02 COMM LOSS FUNC
Fault2) Enables fieldbus communication fault monitoring.
50.03 COMM LOSS T OUT
1.0 s2) Defines the fieldbus communication break supervision time.
50.04 FBA REF1 MODESEL
Position Selects the fieldbus reference 1 scaling.
51.01 FBA TYPE 136 = ETH Pwrlink1) Displays the type of the fieldbus adapter module.
51.02 FBA PAR2 (PROFILE)
0 (= CiA 402) Selects the CANopen device profile CiA 402.
51.03 FBA PAR3(NODE ID)
32) Defines the address of the device.
51.27 FBA PAR REFRESH
REFRESH Validates the FEPL configuration parameter settings.
10.01 EXT1 START FUNC
FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 1.
34.03 EXT1 CTRL MODE1
Position Selects the position control mode for external control location EXT1.
62.24 POS START MODE
PULSE Positioning starts at the rising edge of the pulse.
65.01 POSREFSOURCE
Ref table Reference and other positioning parameters are read from reference set 1/2.
65.04 POS REF 1 SEL FBA REF1 Fieldbus reference 1 is the source for the position reference when reference set 1 is used.
1) Read-only or automatically detected/set2) Example
Start-up 49
The start sequence for the parameter example above is given below.
Control word:• Reset the fieldbus communication fault (if active).
• Enter 0Eh (14 decimal) → SWITCH ON DISABLED.
• Enter 0Fh (15 decimal) → OPERATION ENABLED.
• Enter 1Fh (31 decimal) → MOVE TO NEW SETPOINT.
50 Start-up
Starting up ACS850 drives
1. Power up the drive.
2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA enable.
3. With parameter 50.02 Comm loss func, select how the drive reacts to a fieldbus communication break.
Note: This function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive.
4. With parameter 50.03 Comm loss t out, define the time between communication break detection and the selected action.
5. Select application-specific values for parameters 50.04…50.11. Examples of appropriate values are shown in the tables below.
6. Set the FEPL configuration parameters in group 51.
• Select the communication profile with parameter 51.02.
• Configure the network settings with parameters 51.03 and 51.04.
7. Validate the settings made in parameter group 51 with parameter 51.27 FBA par refresh.
8. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below.
Start-up 51
Parameter setting examples – ACS850
Speed control using the CiA 402 velocity mode (vl)
This example shows how to configure a speed control application that uses the velocity mode (vl) of the CiA 402 profile.
When configuring the master, you need to map the following objects to the transmit and receive PDOs. For an example, see section Mapping objects required for controlling the drive on page 66.
The table below gives the recommended drive parameter settings.
CANopen object
Output data CANopen object
Input data
0x6040 Control word 0x6041 Status word
0x6042 Target velocity 0x6044 Vl control effort
Drive parameter Setting for ACS850 drives
Description
50.01 FBA enable Enable Enables communication between the drive and the fieldbus adapter module.
50.02 Comm loss func Fault2) Enables fieldbus communication fault monitoring.
50.03 Comm loss t out 3.0 s2) Defines the fieldbus communication break supervision time.
50.04 FBA ref1 modesel Speed Selects the fieldbus reference 1 scaling.
51.01 FBA type 136 = ETH Pwrlink1) Displays the type of the fieldbus adapter module.
51.02 FBA par2 (PROFILE)
0 (= CiA 402) Selects the CANopen device profile CiA 402.
51.03 FBA par3 (NODE ID)
32) Defines the address of the device.
51.27 FBA par refresh Refresh Validates the FEPL configuration parameter settings.
52 Start-up
The start sequence for the parameter example above is given below.
Control word:• Reset the fieldbus communication fault (if active).
• Enter 7Eh (126 decimal) → SWITCH-ON DISABLED.
• Enter 7Fh (127 decimal) → OPERATION ENABLED.
10.01 Ext1 start func FB Selects the fieldbus interface as the source of the start and stop commands for external control location 1.
12.03 Ext1 ctrl mode Speed Selects the speed control mode for external control location EXT1.
21.01 Speed ref1 sel FBA ref1(Parameter 02.26)
Selects fieldbus reference 1 as the source for speed reference 1.
1) Read-only or automatically detected/set2) Example
Drive parameter Setting for ACS850 drives
Description
Start-up 53
Speed control using the ABB Drives communication profile
This example shows how to configure a speed control application that uses the ABB drives profile.
The start/stop commands and references are according to the ABB Drives profile. For more information, see the state machine on page 87.
Reference 1 (REF1) value ±20000 (decimal) corresponds to the reference set with parameter 19.01 (Speed scaling) in the forward and reverse directions.
The minimum and maximum 16-bit integer values that can be given through the fieldbus are -32768 and 32767 respectively.
When configuring the master, you need to map the following objects to the transmit and receive PDOs. For an example, see section Mapping objects required for controlling the drive on page 66.
The table below gives the recommended drive parameter settings.
CANopen object
Output data CANopen object
Input data
0x2101 Control word 0x2104 Status word
0x2102 Speed reference 0x2105 Speed actual value
Drive parameter Setting for ACS850 drives
Description
50.01 FBA enable Enable Enables communication between the drive and the fieldbus adapter module.
50.02 Comm loss func Fault2) Enables fieldbus communication fault monitoring.
50.03 Comm loss t out 3.0 s2) Defines the fieldbus communication break supervision time.
50.04 FBA ref1 modesel Speed Selects the fieldbus reference 1 scaling.
51.01 FBA type 136 = ETH Pwrlink1) Displays the type of the fieldbus adapter module.
54 Start-up
The start sequence for the parameter example above is given below.
Control word:• Reset the fieldbus communication fault (if active).
• Enter 47Eh (1150 decimal) → READY TO SWITCH ON.
• Enter 47Fh (1151 decimal) → OPERATING (Speed mode).
51.02 FBA par2 (PROFILE)
0 (= CiA 402) Selects the CANopen device profile CiA 402.
51.03 FBA par3 (NODE ID)
32) Defines the address of the device.
51.27 FBA par refresh Refresh Validates the FEPL configuration parameter settings.
10.01 Ext1 start func FB Selects the fieldbus interface as the source of the start and stop commands for external control location 1.
12.03 Ext1 ctrl mode Speed Selects the speed control mode for external control location EXT1.
21.01 Speed ref1 sel FBA ref1(Parameter 02.26)
Selects fieldbus reference 1 as the source for speed reference 1.
1) Read-only or automatically detected/set2) Example
Drive parameter Setting for ACS850 drives
Description
Start-up 55
Starting up ACS380, ACS580 and ACS880 drives
1. Power up the drive.
2. Enable the communication between the adapter module and the drive with parameter 50.01 FBA A enable.
The selection must correspond to the slot where the adapter module is installed. For example, if the adapter module is installed in slot 1, you must select slot 1.
3. With parameter 50.02 FBA A comm loss func, select how the drive reacts to a fieldbus communication break.
Note: This function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive.
4. With parameter 50.03 FBA A comm loss t out, define the time between communication break detection and the selected action.
5. Select application-specific values for parameters 50.04…50.11. Examples of appropriate values are shown in the tables below.
6. Set the FEPL configuration parameters in group 51.
• Select the communication profile with parameter 51.02.
• Configure the network settings with parameters 51.03 and 51.04.
7. Save the valid parameter values to permanent memory with parameter 96.07 Parameter save.
8. Validate the settings made in parameter group 51 with parameter 51.27 FBA par refresh.
9. Set the relevant drive control parameters to control the drive according to the application. Examples of appropriate values are shown in the tables below.
56 Start-up
Parameter setting examples – ACS380, ACS580 and ACS880
Speed control using the ABB Drives communication profile
This example shows how to configure a speed control application that uses the ABB Drives communication profile.
The start/stop commands and reference are according to the ABB Drives profile. For more information, see the state machine on page 87.
When Reference 1 (REF1) is used, a reference value of ±20000 (4E20h) corresponds to the reference set with parameter 46.01 Speed scaling in the forward and reverse directions.
The minimum and maximum 16-bit integer values that can be given through the fieldbus are -32768 and 32767 respectively.
When configuring the master, you need to map the following objects to the transmit and receive PDOs. For an example, see section Mapping objects required for controlling the drive on page 66.
The table below gives the recommended drive parameter settings.
CANopen object
Output data CANopen object
Input data
0x2101 Control word 0x2104 Status word
0x2102 Speed reference 0x2105 Speed actual value
Drive parameter Setting for ACS880 drives
Description
50.01 FBA A enable 1 = Enable Enables communication between the drive and the fieldbus adapter module.
50.02 FBA A comm loss func
1 = Fault2) Enables fieldbus A communication fault monitoring.
50.03 FBA A comm loss t out
3.0 s2) Defines the fieldbus A communication break supervision time.
50.04 FBA A ref1 type 4 = Speed Selects the fieldbus A reference 1 type and scaling.
Start-up 57
The start sequence for the parameter example above is given below.
Control word:• Reset the fieldbus communication fault (if active).
• Enter 47Eh (1150 decimal) → READY TO SWITCH ON.
• Enter 47Fh (1151 decimal) → OPERATING (Speed mode).
51.01 FBA type 136 = ETH Pwrlink1) Displays the type of the fieldbus adapter module.
51.02 Profile 1 = ABB Drives profile Selects the ABB Drives profile.
51.03 Node ID 32) Defines the address of the device.
51.27 FBA par refresh 1 = Configure Validates the FEPL configuration parameter settings.
20.01 Ext1 commands 12 = Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1.
20.02 Ext1 start trigger 1 = Level2) Defines the start signal for external control location 1 as level-triggered.
22.11 Speed ref1 selection
4 = FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1.
1) Read-only or automatically detected/set2) Example
Drive parameter Setting for ACS880 drives
Description
58 Start-up
Configuring the master station
After the adapter module has been initialized by the drive, you must prepare the master station for communication with the module.
The PLC used in the example below is a B&R X20 CP1485. The information should, however, be easily adaptable for use with other PLCs as well. The example can be applied to all drive types compatible with the module.
Downloading an XML Device Description File (XDD)
XML Device Description Files (XDD) are XML files that specify the properties of the follower device for the Ethernet POWERLINK master. The description files contain information on the supported communication objects.
Download the XDD file from the Document library (www.abb.com/drives).
Configuring a B&R PLC
This example shows how to configure the PLC with B&R Automation Studio PC software, version 3.0.90.18, so that it can be used to control the drive using the FEPL-02 module.
Before you start, make sure that you have downloaded the XDD file from the Document library.
1. Start the Automation Studio software.
2. On the Online menu, click Settings.
Start-up 59
3. Create or modify the connection settings to reflect the serial connection to the PLC. Then, on the Serial tab, right-click the connection and click Connect.
4. On the File menu, click New Project... to create a new project for your PLC, or click Open Project... to open an existing project.
For more information on creating a project, see the B&R documentation.
60 Start-up
Adding the .xdd file
1. On the Tools menu, click Import Fieldbus Device....
2. Select the correct .xdd file for your drive and click Open.
Start-up 61
3. Wait until the .xdd file has been imported.
Associating the adapter module with the PLC
When the .xdd file has been imported, add the adapter module to the list of the POWERLINK devices associated with the PLC.
1. In the Physical View window, right-click the node that represents the CPU, and then click Open POWERLINK.
62 Start-up
If the Physical View window is not visible, you can open it by selecting View → Project Explorer → Physical view.
The POWERLINK window opens, displaying a list of the devices connected to the Powerlink interface (IF3) of the PLC.
64 Start-up
3. In the Select controller module dialog box, select the entry for the adapter module and your drive, and then click Next >.
Start-up 65
4. In the Module Parameter dialog box, type the node number of the adapter module, and then click Next >.
The adapter module is now displayed in the POWERLINK window, as well as in the Physical View. You can close the POWERLINK window.
66 Start-up
Mapping objects required for controlling the drive
1. In the Physical View window, right-click the entry for the adapter module, and then click Open I/O Configuration.
Start-up 67
2. In the I/O Configuration window, choose the objects that you want to map into the PDOs by selecting cyclic transmission types for these objects.
The selections displayed in the example below allow you to control the drive and monitor its status using the ABB Drives profile.
68 Start-up
Building a project and transfering it to the PLC
1. On the Project menu, click Build Configuration.
2. In the Project Build dialog box, click Transfer.
Start-up 71
Forcing values
When Automation Studio is set to the Monitor mode, you can use the window to force values to the control word and speed reference variables. This way, the fieldbus control of the drive can be tested without writing a complete PLC program.
1. To access the PDO data manually, right-click the adapter module entry in the Physical View window, and then click Open I/O Mapping.
A list of the mapped objects is displayed.
72 Start-up
2. To access the online data, change to the Monitor mode:
On the View menu, click Monitor.
Automation Studio is now in the Monitor mode.
3. To force values, select the respective check box in the Force column, type the value into the Force Value column, and then press Enter to validate the value.
For example, to start the drive using the ABB Drives control word, type values 16#4FF, 16#47E and 16#47F, in this order.
Communication profiles 73
7Communication profiles
What this chapter contains
This chapter describes the communication profiles used in the communication between the Ethernet POWERLINK master, the adapter module and the drive.
Communication profiles
Communication profiles are ways of conveying control commands (Control word, Status word, references and actual values) between the master station and the drive.
You can configure the adapter module to provide either the CANopen CiA 402 (Device Profile Drives and Motion Control) profile or the ABB Drives profile. Both are converted to the native profile (eg, DCU or FBA) by the adapter module. In addition, two Transparent profiles – for 16-bit and 32-bit words respectively – are available. With the Transparent modes, no data conversion takes place in the module.
74 Communication profiles
The figure below illustrates the profile selection:
The following sections describe the Control word, the Status word, references and actual values for the CANopen device profile CiA 402 and the ABB Drives communication profile. See the drive manuals for details on the native communication profiles.
Data conversion
CiA 402
FEPL-02
ABB Drives
Transparent 16
Transparent 32
Drive
Optional reference,
Actual value scaling
1)
1)
CANopen objects2001h…2106h
CANopen objects603F…60FFh
Control word, Reference, Status word and Actual values according to CANopen profile CiA 402
Data conversion
Select
2)
Control word, Reference, Status word and Actual values according to ABB Drives profile, or drive-specific 16-bit or 32-bit words
Select
2)
1) Native profile (eg, DCU or FBA)2) Selection with par. 02 Profile of group 1 (group A)
Communication profiles 75
CANopen device profile CiA 402
The CiA 402 profile is a standardized device profile used for digital controlled motion products (for example, drives) and is part of the CANopen specification. Additional information can be obtained at www.can-cia.org.
Supported modes of operation
The CiA 402 profile offers several modes of operation. These modes define the operation of the drive. The CiA 402 operation modes are supported by the drives as follows:
In this section, the scalings of the reference and actual values are described for each operation mode. Operation mode -specific objects are defined in Appendix A – CANopen Object Dictionary. The current operation mode is displayed in object 0x6061, and it can be changed using object 0x6060.
Velocity mode
The velocity mode is the basic mode to control the velocity of the drive with limits and ramp functions.
The velocity command value is object 0x6042 vl target velocity (rpm).
Note: In the velocity operation mode, the operation is governed by a different set of objects than in other operation modes, namely: 0x6046 vl velocity min max amount, 0x6048 vl velocity acceleration, 0x6049 vl velocity deceleration, 0x604A vl velocity quick stop and 0x604C vl dimension factor.
Operation mode ACSM1motion
ACSM1speed
ACS850 ACS355 ACS880
Velocity mode vl vl vl vl vl
Profile torque mode tq tq tq tq tq
Profile velocity mode pv
Profile position mode pp
Homing mode hm
Note: Drive synchronization is supported only with ACSM1 drives.
76 Communication profiles
Profile torque mode
In the profile torque operation mode, the target torque value is processed via a trajectory generator on the adapter module, which generates a linear ramp on the torque command value to the drive.
The torque command value is object 0x6071 Target torque (0.1%). The torque ramp slope is set with object 0x6087 Torque slope (0.1% / s).
Profile velocity mode
In the profile velocity operation mode, the module uses the profile velocity control mode of the drive instead of the Speed control mode.
The velocity command value is object 0x60FF Target velocity (inc/s).
Profile position mode
The profile position mode enables the positioning of the drive to be controlled. The setting of position set-points is controlled by the new set-point and the change sets immediately bits in the Control word as well as the set-point acknowledge bit in the Status word.
The position command value is object 0x607A Target position (inc).
Homing mode
The homing mode describes various methods of finding a home position, or a zero point. The switches pointing the home position can be located at the ends or in the middle of the path that the moving object is travelling. Most of the methods also use the index (zero) pulse from an incremental encoder.
For more information on the homing mode and descriptions of the various homing methods, see the drive manual.
Communication profiles 77
Process data scaling
Torque data
Torque data is expressed in 0.1% of nominal torque, eg, value 10 = 1% torque.
Velocity data
Velocity data is expressed in position increments per second (inc/s).
The scaling for the velocity mode is different from other velocity data. Velocity data for the velocity operation mode is expressed in axis revolutions per minute (rpm). Additionally, a rational factor by which the velocity data will be scaled can be set by object 0x604C vl dimension factor.
Position data
Position data is expressed in position increments (inc).
Process feedback values
Feedback values for control purposes are available in the following objects:• 0x6077 Torque actual value
• 0x6044 vl velocity actual value
• 0x606C Velocity actual value
• 0x6064 Position actual value.
For the objects to be operational, the drive must be configured to transmit the corresponding feedback data to the adapter module.
78 Communication profiles
Control word and Status word
The Control word is the principal means for controlling the drive from a fieldbus system. It is sent by the fieldbus master to the drive through the adapter module. The drive switches between its states according to the bit-coded instructions in the Control word, and returns status information to the master in the Status word.
The start and stop of the drive and several mode-specific commands are executed by the device control state machine. This is described in figure State machine on page 82.
Control word contents
The functionality of the CiA 402 Control word is described in the following tables. The Control word described in the table below can be found in object 0x6040 (hex) and the Status word in object 0x6041 (hex) (see Appendix A – CANopen Object Dictionary).
The operation mode specific bits of the Control word of the CiA 402 profile are listed in the table below:
Bit Description
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4…6 Operation mode specific
7 Fault reset
8 Halt
9 Operation mode specific
10 Reserved
11…15 Drive specific
Bit Velocity mode
Profile position mode
Profile velocity mode
Profile torque mode
Homing mode
4 Ramp func-tion genera-tor enable
New set point
Reserved Reserved Homing op-eration start
Communication profiles 79
The CiA 402 state machine is controlled by commands issued via Control word bits 7, 3…0. The commands are listed in the table below:
5 Ramp func-tion genera-tor unlock
Change set immediately
Reserved Reserved Reserved
6 Ramp func-tion genera-tor use ref.
Absolute / relative
Reserved Reserved Reserved
Control word bit
Command Faultresetbit 7
Enable operation
bit 3
QuickStopbit 2
Enable voltage
bit 1
Switchon
bit 0
State transitions1)
Shut down 0 X 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on 0 1 1 1 1 3 (+4)2)
Disablevoltage
0 X X 0 X 7, 9, 10, 12
Quick stop 0 X 0 1 X 7, 10, 11
Disableoperation
0 0 1 1 1 5
Enableoperation
0 1 1 1 1 4
Fault reset X X X X 15
X: Bits marked with X are irrelevant.1) See the state machine of the CiA 402 profile on page 82.2) When Control word bit 3 (Enable operation) is 1, the drive does not stay in the SWITCHED ON state, but immediately moves to state OPERATION ENABLED.
Bit Velocity mode
Profile position mode
Profile velocity mode
Profile torque mode
Homing mode
80 Communication profiles
Status word contents
The following table describes the functionality of the Status word of the CiA 402 profile.
Bit Name Value Description
0 Ready to switch on 0 Not ready to switch on
1 Ready to switch on
1 Switched on 0 Not switched on
1 Switched on
2 Operation enabled 0 Operation not enabled
1 Operation enabled
3 Fault 0 No fault
1 Fault
4 Voltage enabled 0 No high voltage applied to the drive
1 High voltage applied to the drive
5 Quick stop 0 Quick stop is active
1 Normal operation
6 Switch on disabled 0 Switch on enabled
1 Switch on disabled
7 Warning 0 No warning/alarms
1 Warning/Alarm is active
8 Drive-specific 0
1
9 Remote 0 Controlword is not processed
1 Controlword is processed
10 Target reached 0 Set-point not reached
1 Set-point reached
11 Internal limit active 0 Internal limit not active
1 Internal limit active
12…13 Operation mode specific
Communication profiles 81
The following table describes the operation mode specific bits of the Status word of the CiA 402 profile:
14…15 Drive-specific 0
1
Bit Velocity mode
Profile position mode
Profile velocity mode
Profile torque mode
Homing mode
12 Reserved Set-point acknowledge-ment
Speed Reserved Homing attained
13 Reserved Following error
Max slippage error
Reserved Homing error
Bit Name Value Description
82 Communication profiles
State machine
The state machine for the CiA 402 communication profile is shown below.
CW: xxxxxxxx1xxxxxxx
From any state
FAULT REACTIONACTIVE
SW: xxxxxxxxx0xx1111
Fault reactioncompleted
FAULT
SW: xxxxxxxxx0xx1000
START
Power-on,self-initialization
NOT READY
SW: xxxxxxxxx0xx0000TO SWITCH ON
Initializedsuccessfully
CW: xxxxxxxxxxxxx01xCW: xxxxxxxxxxxxx110
CW: xxxxxxxxxxxxx110
CW: xxxxxxxxxxxxx111
CW: xxxxxxxxxxxxx01xor
CW: xxxxxxxxxxxxxx0x
CW: xxxxxxxxxxxx0111
CW: xxxxxxxxxxxx1111
CW: xxxxxxxxxxxxx110
Quick stopcompleted
CW: xxxxxxxxxxxxx01xCW: xxxxxxxxxxxxxx0x
CW: Control wordSW: Status word
SWITCH-ON
SW: xxxxxxxxx1xx0000DISABLED
SWITCHED ON
SW: xxxxxxxxx01x0011
READY TO
SW: xxxxxxxxx01x0001SWITCH ON
OPERATION
SW: xxxxxxxxx01x0111ENABLED
QUICK STOP
SW: xxxxxxxxx0xx0111ACTIVE
orCW: xxxxxxxxxxxxxx0x
orCW: xxxxxxxxxxxxxx0x
State transition(0)
(1) (15)
(2)
(7)
(3)
(6)
(10)
(12)
(9)
(8)
(5)
(4)
(11)
(13)
Communication profiles 83
ABB Drives communication profile
Control word and Status word
The Control word is the principal means for controlling the drive from a fieldbus system. The fieldbus master station sends the Control word to the drive through the adapter module. The drive switches between its states according to the bit-coded instructions in the Control word and returns status information to the master in the Status word.
The contents of the Control word and the Status word are detailed below. The drive states are presented on page 87.
Control word contents
The table below shows the contents of the Control word for the ABB Drives communication profile. The upper case boldface text refers to the states shown in the state machine on page 87.
Bit Name Value STATE/Description
0 OFF1_CONTROL
1 Proceed to READY TO OPERATE.
0 Stop along currently active deceleration ramp. Proceed to OFF1 ACTIVE; proceed to READY TO SWITCH ON unless other interlocks (OFF2, OFF3) are active.
1 OFF2_CONTROL
1 Continue operation (OFF2 inactive).
0 Emergency OFF, coast to stop.Proceed to OFF2 ACTIVE, proceed to SWITCH-ON INHIBITED.
2 OFF3_CONTROL
1 Continue operation (OFF3 inactive).
0 Emergency stop, stop within time defined by drive parameter. Proceed to OFF3 ACTIVE; proceed to SWITCH-ON INHIBITED.Warning: Ensure that motor and driven machine can be stopped using this stop mode.
84 Communication profiles
3 INHIBIT_OPERATION
1 Proceed to OPERATION ENABLED.Note: Run enable signal must be active; see drive documentation. If the drive is set to receive the Run enable signal from the fieldbus, this bit activates the signal.
0 Inhibit operation. Proceed to OPERATION INHIBITED.
4 RAMP_OUT_ZERO
1 Normal operation. Proceed to RAMP FUNCTION GENERATOR: OUTPUT ENABLED.
0 Force Ramp Function Generator output to zero. Drive ramps to stop (current and DC voltage limits in force).
5 RAMP_HOLD 1 Enable ramp function.Proceed to RAMP FUNCTION GENERATOR: ACCELERATOR ENABLED.
0 Halt ramping (Ramp Function Generator output held).
6 RAMP_IN_ZERO
1 Normal operation. Proceed to OPERATION.Note: This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters.
0 Force Ramp Function Generator input to zero.
7 RESET 0 → 1 Fault reset if an active fault exists. Proceed to SWITCH-ON INHIBITED.Note: This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters.
0 Continue normal operation.
8…9 Reserved.
Bit Name Value STATE/Description
Communication profiles 85
Status word contents
The table below shows the contents of the Status word for the ABB Drives communication profile. The upper case boldface text refers to the states shown in the state machine on page 87.
10 REMOTE_CMD
1 Fieldbus control enabled.
0 Control word and reference not getting through to the drive, except for CW bits OFF1, OFF2 and OFF3.
11 EXT_CTRL_LOC
1 Select External Control Location EXT2. Effective if control location parameterized to be selected from fieldbus.
0 Select External Control Location EXT1. Effective if control location parameterized to be selected from fieldbus.
12…15
Drive-specific (For information, see the drive documentation.)
Bit Name Value STATE/Description
0 RDY_ON 1 READY TO SWITCH ON
0 NOT READY TO SWITCH ON
1 RDY_RUN 1 READY TO OPERATE
0 OFF1 ACTIVE
2 RDY_REF 1 OPERATION ENABLED
0 OPERATION INHIBITED
3 TRIPPED 1 FAULT
0 No fault
4 OFF_2_STA 1 OFF2 inactive
0 OFF2 ACTIVE
5 OFF_3_STA 1 OFF3 inactive
0 OFF3 ACTIVE
6 SWC_ON_INHIB
1 SWITCH-ON INHIBITED
0 –
Bit Name Value STATE/Description
86 Communication profiles
7 ALARM 1 Warning/Alarm
0 No warning/alarm
8 AT_SETPOINT
1 OPERATION. Actual value equals reference (= is within tolerance limits, ie, in speed control, speed error is 10% max. of nominal motor speed).
0 Actual value differs from reference (= is outside tolerance limits).
9 REMOTE 1 Drive control location: REMOTE (EXT1 or EXT2)
0 Drive control location: LOCAL
10 ABOVE_LIMIT
1 Actual frequency or speed equals or exceeds supervision limit (set by drive parameter). Valid in both directions of rotation.
0 Actual frequency or speed within supervision limit
11 EXT_CTRL_LOC
1 External Control Location EXT2 selected. Note concerning ACS880: This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters. User bit 0 selection (06.33).
0 External Control Location EXT1 selected
12 EXT_RUN_ENABLE
1 External Run Enable signal received. Note concerning ACS880: This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters. User bit 1 selection (06.34).
0 No External Run Enable signal received
13…14
Drive-specific (For information, see the drive documentation.)
15 FBA_ERROR 1 Communication error detected by fieldbus adapter module
0 Fieldbus adapter communication OK
Bit Name Value STATE/Description
Communication profiles 87
State machine
The state machine for the ABB Drives communication profile is shown below.
MAINS OFF
Power ON (CW Bit0=0)
(SW Bit6=1)
(SW Bit0=0)
from any state
(CW=xxxx x1xx xxxx x110)
(SW Bit1=1)
n(f)=0 / I=0
(SW Bit2=0)
A B C D
(CW Bit3=0)
operationinhibited
OFF1 (CW Bit0=0)
(SW Bit1=0)
(SW Bit0=1)
(CW Bit3=1and
SW Bit12=1)
C D
(CW Bit5=0)
(SW Bit2=1)
(SW Bit5=0)
from any state from any state
Emergency stopOFF3 (CW Bit2=0)
n(f)=0 / I=0
Emergency OFFOFF2 (CW Bit1=0)
(SW Bit4=0)
B
B C D
(CW Bit4=0)
(CW=xxxx x1xx xxx1 1111)
(CW=xxxx x1xx xx11 1111)
D
(CW Bit6=0)
A
C(CW=xxxx x1xx x111 1111)
(SW Bit8=1)D
from any state
Fault
(SW Bit3=1)
(CW Bit7=1)
(CW=xxxx x1xx xxxx x111)
(CW=xxxx x1xx xxxx 1111and SW Bit12=1)
ABB Drivescommunication
profile
SWITCH-ON INHIBITED
NOT READY TO SWITCH ON
READY TO SWITCH ON
READY TO OPERATE
OPERATION INHIBITED
OFF1 ACTIVE
OPERATION ENABLED
RFG: OUTPUT ENABLED
RFG: ACCELERATOR ENABLED
OPERATION
OFF2 ACTIVE
FAULT
OFF3 ACTIVE
state
condition
rising edgethe bitof
CW = Control wordSW = Status wordn = SpeedI = Input currentRFG = Ramp function
generatorf = Frequency
88 Communication profiles
References
References are 16-bit words containing a sign bit and a 15-bit integer. A negative reference (indicating reversed direction of rotation) is formed by calculating the two’s complement from the corresponding positive reference.
ABB drives can receive control information from multiple sources including analog and digital inputs, the drive control panel and a communication module (for example, FEPL-02). To have the drive controlled through the fieldbus, the module must be defined as the source for control information, for example, reference.
Scaling
References are scaled as shown below.
Note: The values of REF1 MAX and REF2 MAX are set with drive parameters. See the drive manuals for further information.
In ACSM1, ACS850, ACQ810 and ACS880, the speed reference (REFx) in decimal (0…20000) corresponds to 0…100% of the speed scaling value (as defined with a drive parameter, eg, ACS880 parameter 46.01 Speed scaling).
In ACS355, drive parameter REFx MIN may limit the actual minimum reference.
DriveFieldbus
0
REFx MAX / Speed scale
-(REFx MAX) / Speed scale
0
REF2: -10000REF1: -20000
REF2: 10000REF1: 20000
Communication profiles 89
Actual values
Actual values are 16-bit words containing information on the operation of the drive. The functions to be monitored are selected with a drive parameter.
Scaling
Actual values are scaled as shown below.
Note: The values of REF1 MAX and REF2 MAX are set with drive parameters. See the drive manuals for further information.
0
REFx MAX
-(REFx MAX)
0
ACT2: -10000ACT1: -20000
ACT2: 10000ACT1: 20000
DriveFieldbus
Communication protocol 91
8Communication protocol
What this chapter contains
This chapter describes the Ethernet POWERLINK communication protocol for the adapter module.
Ethernet POWERLINK communication cycle
In an Ethernet POWERLINK network, one of the nodes, for example, a PLC, motion controller or industrial PC, is designated to function as the Managing Node (MN), the master in the network. All other devices operate as Controlled Nodes (CN), slaves in the network. The MN defines the clock pulse for the synchronization of all devices and manages the data communication cycle. In the course of one clock cycle within which all nodes are addressed, the MN sends Poll Requests (PReq) to all CNs one after another. They reply immediately to the prompts with Poll Responses (PRes).
92 Communication protocol
An Ethernet POWERLINK cycle consists of three phases. During the start phase, the MN sends a Start of Cycle Frame (SoC) signal to all CNs to synchronize the devices. Payload data exchange then proceeds in the second phase, the isochronous phase. The third phase, the asynchronous phase, allows the transfer of large packets that are not time-critical, for example, parametrization data.
Ethernet POWERLINK state machine
In Ethernet POWERLINK, a Controlled Node starts up by a common initialization process. All the states are valid when the device is powered, and they are substates of the NMT_GS_POWERED superstate.
NMT_GS_INITIALISATION
After system start, the device automatically assumes this state and network functionality begins. NMT_GS_INITIALISATION and all its substates are only internal states of the device.
PReqCN2
Asynchronous phase
Isochronous phase
PReqCN1
PResCN1
PResCN2
SoC PReqCNn
PResCNn
SoA
Async data
MN
CN
Ethernet POWERLINK communication cycle
Startphase
Communication protocol 93
In the NMT_GS_RESET_CONFIGURATION substate, the node address of the device is identified, and it is determined whether the device is configured as a MN or CN. The FEPL-02 module is a CN, and thus, it enters the NMT CN state machine in the NMT_GS_COMMUNICATING superstate.
NMT_GS_COMMUNICATING
NMT_CS_NOT_ACTIVE
This is a non-permanent state that allows a starting node to recognize the current network state. Timeout for SoC, PReq, PRes and SoA frames trigger the device to enter state NTM_CS_BASIC_ETHERNET.
NMT_GS_RESET_APPLICATION
NMT_GS_RESET_COMMUNICATION
NMT_GS_RESET_CONFIGURATION
NMT_GS_INITIALISING
NMT_CSNMT CN STATE
MACHINE
NMT_MSNMT MN STATE
MACHINE
NMT_GS_COMMUNICATING
NMT_GS_INITIALISATION
NMT_GS_POWERED
NMT_SwReset
NMT_ResetNode
NMT_ResetCommunication
NMT_SwReset
Internal Communication Error
Power On
Reset
94 Communication protocol
The NMT_CS_PREOPERATIONAL states
NMT_CS_PREOPERATIONAL_1 is one of the substates in the superstate NMT_CS_EPL_MODE. Transition from NMT_CS_NOT_ACTIVE to NMT_CS_PRE_OPERATIONAL_1 is triggered by a SoA or SoC frame being received. In this state, the CN may send a frame only if the MN has authorized it to do so by a SoA command. There is no PDO communication in this state.
Receiving a SoC frame triggers the transition from NMT_CS_PREOPERATIONAL_1 to NMT_CS_PREOPERATIONAL_2. In this state, PReq and PRes data may be invalid because PDO mappings may differ.
In NMT_CS_EPL_MODE, error recognition (for example, loss of SoC or PReq) always triggers the transition to NMT_CS_PREOPERATIONAL_1.
NMT_CS_READY_TO_OPERATE
In this state, the CN signals that it is ready to operate to the MN. It responds to the PReq query of the MN by sending a PRes frame.
NMT_CS_OPERATIONAL
NMT StartNode command triggers the transition from NMT_CS_READY_TO_OPERATE to NMT_CS_OPERATIONAL. This is the normal operating state of the CN.
Communication protocol 95
NMT_CS_STOPPED
This state is used for the controlled shutdown of a selected CN while the system is still running. In this state, the CN does not participate in cyclic frame exchange, but it still observes SoA frames.
NMT_GS_INITIALISATION
NMT_CS_NOT_ACTIVE
NMT_CS_PREOPERATIONAL_1
NMT_CS_PREOPERATIONAL_2
NMT_CS_READY_TO_OPERATE
NMT_CS_OPERATIONAL
NMT_CS_STOPPED
NMT_CS_BASIC_ETHERNET
NMT_CS NMT CN State Machine
NMT_CS_EPL_MODE
Error Condition
NMT StartNode
NMT StopNode
SoA, SoC
96 Communication protocol
DS 301 and DS 402 specification
The application layer communication protocol in the FEPL-02 module is based on the CANopen DS 301 communication profile and DS 402 device profile for drives and motion control. The protocol specifies the Object Dictionary in the adapter module, as well as communication objects for exchanging process data and acyclic messages.
The adapter module implements the following message types:• Process Data Object (PDO)
The PDO is used for cyclic I/O communication, in other words, process data.
• Service Data Object (SDO)
The SDO is used for acyclic data transmission.
• NMT response services
NMT response services are used for identity and status signaling both during the start-up and in runtime.
The Object Dictionary is described in Appendix A – CANopen Object Dictionary.
Process Data Objects
Process Data Objects (PDO) are used for exchanging time-critical process data between the master and the slave. Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave.
PDO mapping defines which application objects are transmitted inside a PDO. These typically include control and status words, references and actual values, but most dictionary objects and drive parameters can be mapped for cyclical communication.
The FEPL-02 adapter module has one receive PDO (Rx PDO) and one transmit PDO (Tx PDO). In each PDO, 0…16 application objects can be mapped. PDOs are mapped to objects during configuration (the NMT_CS_PRE-OPERATIONAL_1 and NMT_CS_PREOPERATIONAL_2 states).
The Tx PDO is mapped by writing to the 0x1A00 object. By default, there is no parameter mapped to the Tx PDO. Choose which parameters are exchanged by the Tx PDO.
Communication protocol 97
The Rx PDO is mapped by writing to the 0x1600 object. By default, there is no parameter mapped to the Rx PDO. Choose which parameters are exchanged by the Rx PDO.
Note: The maximum number of I/O parameters that can be simultaneously mapped for cyclic communication depends on the drive type and application. For example, ACS880 supports 12 inputs and 12 outputs.
Service Data Objects
Service Data Object (SDO) uses asynchronous data transmission and is used to access object without mapping them to a PDO connection. With SDO communication, all CANopen objects in the adapter module can be accessed.
Ethernet POWERLINK provides different kinds of SDO transfer methods. The adapter module supports SDO transfer via Ethernet POWERLINK ASnd frames in asynchronous phase. For further information, see Ethernet POWERLINK Communication Profile Specification Version 1.1.0.
SDO Protocol
The Download Protocol (for write commands) and Upload Protocol (for read commands) are described in the Ethernet POWERLINK Communication Profile Specification Version 1.1.0.
The adapter module supports the following commands:• Write by Index
• Read by Index
When the Write by Index command is used, the client of an SDO (the MN) downloads data to the adapter module.
When the Read by Index command is used, the client of an SDO (the MN) requests the adapter module to upload data to the client.
To address the objects, Indexes and Sub-Indexes are used. An Index (0…65535) specifies and entry of the device object and a Sub-Index (0…254) specifies a component of the device object dictionary entry.
98 Communication protocol
Network Management Services
Ethernet POWERLINK Network Management (NMT) is node-oriented and follows a master/slave relationship. The adapter module is administered as an NMT slave by the master.
Ethernet POWERLINK defines five categories of NMT services:• NMT State Command Services
• NMT Managing Command Services (not supported)
• NMT Response Services
• NMT Info Services (not supported)
• NMT Guard Services (not supported).
NMT State Command Services
The MN controls the state of the CN via NMT State Command Services. For more information, see section Ethernet POWERLINK state machine on page 92.
NMT Response Services
NMT Response Services are used by the MN to query NMT information from the CN, such as current state, error and setup data. Ethernet POWERLINK specifies the following NMT Response Services:• NMT State Response
• IdentResponse
• StatusResponse.
Via the NMT State Response service, the CNs signal their states to the MN. The IdentResponse service is used by the MN to identify configured but unrecognized CNs at system start-up or after loss of communication. For more information, see Appendix C – IdentResponse Frame.
Communication protocol 99
The StatusResponse service is used by the MN to query the current status of CNs that are not communicating isochronously. It is used for error signaling in runtime. If an error occurs, the EN (Error New) flag in the PRes frame is toggled. This notifies the MN that an error has occurred, and the MN polls the CN for a StatusResponse that includes error information. A list of active and historical error events can be read using SDO from object 0x1003.
Error entry specification
Byte 0 1 2 3 4 5 6 7 8 9
Entry type1) Error code2) Time Stamp (Not used3))
Byte 10 11 12 13 14 15 16 17 18 19
Time Stamp Additional information (Not used3))1) See Ethernet POWERLINK Communication Profile Specification,
version 1.1.0.2) See the error code table in Appendix B – CANopen error codes.3) All bytes are set to zero.
Diagnostics 101
9Diagnostics
What this chapter contains
This chapter explains how to trace faults with the status LEDs on the adapter module.
Fault and warning messages
For the fault and warning messages concerning the adapter module, see the drive firmware manual.
102 Diagnostics
LED indications
The adapter module is equipped with three bicolor diagnostic LEDs. The LEDs are described below.
Name Color Function/state
HOST
Blinking green Establishing communication to host
Green Connection to host OK
Blinking red Communication to host lost temporarily
Flashing orange,alternating withthe MODULEflashing orange
Internal file system error. The error maybe cleared by cycling drive power. If theerror persists, contact your local ABBrepresentative.
Diagnostics 103
MODULE
Green off NMT_GS_OFF, NMT_GS_INITIALISATION,NMT_CS_NOT_ACTIVE
Flickering green NMT_CS_BASIC_ETHERNET
Green, single flash
NMT_CS_PRE_OPERATIONAL_1
Green, double flash
NMT_CS_PRE_OPERATIONAL_2
Green, triple flash NMT_CS_READY_TO_OPERATE
Green NMT_CS_OPERATIONAL
Blinking green NMT_CS_STOPPED
Red Error
Flashing orange,alternating withthe HOSTflashing orange
Internal file system error. The error may be cleared by cycling drive power. If the error persists, contact your local ABB representative.
NET
Blinking green TX/RX activity
Green Link(s) are active.
Red Link(s) are inactive.
Name Color Function/state
Technical data 105
10Technical data
What this chapter contains
This chapter contains the technical specifications of the adapter module and the Ethernet POWERLINK link.
106 Technical data
FEPL-02
The figure below shows the enclosure of the adapter module from the front and side.
Installation Into an option slot on the drive control unit.
Degree of protection IP20
Ambient conditions The applicable ambient conditions specified for the drive in its manuals are in effect.
Package Cardboard. Plastic wrapping: Antistatic air bubble sheet (PE).
Indicators Three bicolor LEDs (HOST, MODULE, NET).
Connectors A 20-pin connector to the drive (X3).Two RJ-45 connectors (X1 and X2).
Power supply +3.3 V +5% max. 450 mA (supplied by the drive).
General All materials UL/CSA-approved.Complies with EMC standard EN 61800-3:2004.Printed circuit board conformal coated.
Technical data 107
Ethernet POWERLINK linkCompatible devices All Ethernet POWERLINK compliant devices.
Medium 100Base-TX• Wiring: CAT 5 UTP, CAT 5 FTP* or CAT 5 STP*
(*Recommended)• Connector: RJ-45• Termination: Internal• Maximum segment length: 100 m
Topology Star, tree, or daisy chain
Transfer rate 100 Mbit/s
Serial communication type
Half-duplex
Protocol Ethernet POWERLINK
Appendix A – CANopen Object Dictionary 109
11Appendix A – CANopen Object Dictionary
What this chapter contains
The CANopen Object Dictionary contains all the configuration data of the adapter module.
Object Dictionary structure
The objects in the Object Dictionary can be accessed with SDO services, and many of the dictionary objects can be mapped for cyclic communication in PDOs. Each object is addressed using a 16-bit index.
The following table presents the overall layout of the standard Object Dictionary.
Index (hex) Object Dictionary area
0000 - 0FFF Data type area
1000 - 1FFF Communication profile area
2000 - 5FFF Manufacturer-specific profile area
6000 - 9FFF Device profile area
A000 - FFFF Reserved area
110 Appendix A – CANopen Object Dictionary
Explanations for the abbreviations in the columns of the tables are given below:
Index Object index (hex)
SI Subindex (hex)
Type Data type• U64 = 64-bit unsigned integer• U32 = 32-bit unsigned integer (0 … 232 - 1)• I32 = 32-bit signed integer (-231 … 231 - 1)• U16 = 16-bit unsigned integer (0…65535)• I16 = 16-bit signed integer (-32768…32767)• U8 = 8-bit unsigned integer (0…255)• I8 = 8-bit signed integer (-128…127)• OSTR = Octet string• VSTR = Visible string• BOOL = Boolean
Acc. / Access
SDO read/write access• R = object can only be read by the SDO service• RW = object can be both read and written by the SDO
service
Def. Default value
Appendix A – CANopen Object Dictionary 111
Communication profile objects
The objects in the communication profile section describe the basic Ethernet POWERLINK properties of the adapter module. The objects are described in the following table.
Index SI Name Type Acc. Def. Information
1000 0 Device type U32 R 0x10192 Describes the type of the device. Composed of two 16-bit fields, the least significant field describing the device profile, and the most significant field giving additional information. The device profile for FEPL-02 is 0×10192 (hex), which corresponds to communication profile CiA 402, and additional information value is 0×01 (hex), which represents a frequency converter.
1001 0 Error register U8 R 0 Error register for the adapter module. Bit encoded according to DS 301/401.When a bit is set, the error is active. Bits:• 7: Manufacturer-specific• 6: Reserved (always 0)• 5: Device profile specific• 4: Communication• 3: Temperature• 2: Voltage• 1: Current• 0: Generic error (any drive
fault).
1003 0 Error history U8 RW 0 Number of entries. 0 = clear historyRange: 0…254
1 Error entry 1 R -
… … … … …
254 Error entry 254
R -
1006 0 Communica-tion cycle time interval
U32 R 0 Length of the cycle time interval in microseconds, ie, the time between SoC-SoC
112 Appendix A – CANopen Object Dictionary
1008 0 Device name VSTR R Device name. The constant string is FEPL-02 and <drive name>.
1009 0 Hardware version
VSTR R - Board revision, eg, A
100A 0 Software version
VSTR R - Firmware name and version
1010 0 Store parameters
U8 R - Number of entries.Write value 0x65766173 into a relevant subindex to save object values to non-volatile memory.Range: 1…127
1 Save all parameters
U32 RW - Save the communication and device profile areas.
2 Save comm parameters
U32 RW - Save objects 1000…1FFF (communication profile area).
3 Save appl parameters
U32 RW - Save objects 6000…9FFF (device profile area).
4 Save drive parameters
U32 RW - Save drive parameters.
1011 0 Restore default parameters
U8 R - Number of entries.Write value 0x64616F6C into a relevant subindex to restore the default values to objects.Range: 1…127
1 Restore all defaults
U32 RW - Restore the default values to the communication and device profile areas.
2 Restore comm defaults
U32 RW - Restore objects 1000…1FFF (communication profile area).
3 Restore appl defaults
U32 RW - Restore objects 6000…9FFF (device profile area) which are saved to the FBA.
4 Restore drive defaults
U32 RW - Restore drive default parameters.
Index SI Name Type Acc. Def. Information
Appendix A – CANopen Object Dictionary 113
1018 0 Identity U8 R 4 Number of entriesRange: 1…4
1 Vendor ID U32 R - Value 0xB7 = ABB Drives
2 Product code U32 R - Product code read fromthe drive. Eg, value0x1F7 = ACS355,0x20A = ACSM1 speed, 0x20B = ACSM1 motion, 0x21C = ACS850, 0x259 = ACS880.
3 Revision U32 R - FBA firmware version number (hex), eg, value 0x015 = FFEPL015
4 Serial number
U32 R - Serial number of the adapter module
1020 0 Verify configuration
U8 R 4 Number of entriesRange: 2…4
1 Configuration date
U32 RW 0 Used by the MN to verify if the module is properly configured
2 Configuration time
U32 RW 0 Used by the MN to verify if the module is properly configured
3 Configuration ID
U32 RW 0 Used by the MN to verify if the module is properly configured
4 Verify configuration valid
BOOL RW TRUE Used by the MN to verify if the module is properly configured
Index SI Name Type Acc. Def. Information
114 Appendix A – CANopen Object Dictionary
1030 0 Interface Group
U8 R 9 Number of entries
1 Interface Index
U32 R - Interface index of the physical interface.Always 1.
2 Interface Description
VSTR R - Textual string containing information about the interface
3 Interface Type
U8 R 6 1 = Other6 = Ethernet CSMA/CD7 = iso88023 CSMA/CDAlways 6 (Ethernet CSMA/CD)
4 Interface MTU
U16 R - Size of the largest datagram which can be sent/received on the interface, specified in octets
5 Interface Phys Address
OSTR R - MAC address assigned during manufacturing
6 Interface Name
VSTR R - Always eth0
7 Interface Operation Status
U8 R - The current operational state of the interface0 = Down1 = Up
8 Interface Admin State
U8 RW 1 The current administration state of the interface0 = Down1 = Up
9 Valid Boolean BOOL RW FALSE Specifies whether or not the data of this object is valid. TRUE = The data is valid. FALSE = The data is invalid.
1300 0 SDO sequence timeout
U32 RW - Timeout value in milliseconds for the connection abort recognition of the SDO sequence layer
Index SI Name Type Acc. Def. Information
Appendix A – CANopen Object Dictionary 115
1400 0 Receive PDO Communica-tion
U8 R 2 Number of entries
1 Node ID U8 RW 0 Node ID of the node transmitting the corresponding PRes.Range: 0…254
2 Mapping version
U8 RW -
1600 0 Receive PDO Mapping
U8 RW 0 Number of mapped application objects.Range: 0…16
1 Mapped object #1
U64 RW 0
… … … … …
16 Mapped object #16
U64 RW 0
1800 0 Transmit PDO Com-munication
U8 R 2 Number of entries
1 Node ID U8 RW 0 Node ID of the PDO target: • CN: not used (0) • MN: NodeID of the PReq
target (CN)Valid Node IDs are released by NMT_NodeAssignment_AU32 [Node ID] Bits 0 and 8. Node ID entry 0 indicates the multicast PRes transmitted by the MN.Range: 0…254
2 Mapping version
U8 RW 0
1A00 0 Transmit PDO Mapping
U8 RW 0 Number of mapped application objects.Range: 0…16
1 Mapped object #1
U64 RW 0
… … … … …
16 Mapped object #16
U64 RW 0
Index SI Name Type Acc. Def. Information
116 Appendix A – CANopen Object Dictionary
1C0B 0 Loss of SoC U8 R 3 Number of entries.Range: 0…3
1 Cumulative count
U32 RW 0 Increased by 1 every time a loss of SoC is detected.
2 Threshold count
U32 R 0 Increased by 8 every time a loss of SoC is detected, decreased by 1 on every healthy SoC.
3 Threshold U32 RW 15 When Threshold count reaches this value, an error will occur. Setting it to 0 will disable the error reaction.
1C0D 0 Loss of PReq U8 R 3 Number of entries.Range: 0…3
1 Cumulative count
U32 RW 0 Increased by 1 every time a loss of PReq is detected.
2 Threshold count
U32 R 0 Increased by 8 every time a loss of PReq is detected, decreased by 1 on every healthy PReq.
3 Threshold U32 RW 15 When Threshold count reaches this value, an error will occur. Setting it to 0 will disable the error reaction.
1C0F 0 CRC errors U8 R 3 Number of entries.Range: 1…3
1 Cumulative count
U32 RW 0 Increased by 1 every time a CRC error is detected.
2 Threshold count
U32 R 0 Increased by 8 every time a CRC error is detected, decreased by1 on every healthy cycle
3 Threshold U32 RW 15 When Treshold count reaches this value, an error will occur. Setting it to 0 will disable the error reaction.
1C14 0 Loss of frame tolerance
U32 RW 100000 Tolerance interval in nanoseconds to be applied by CN's Loss of SoC error recognition
1F82 0 Feature flags U32 R - Always 0x45
Index SI Name Type Acc. Def. Information
Appendix A – CANopen Object Dictionary 117
1F83 0 EPL version U8 R - Always 0x20
1F8C 0 Current NMT state
U8 R -
1F93 0 EPL Node ID U8 R 2 Number of entries.Range: 2…3
1 Node ID U8 R 1 Currently active node ID.Range: 1…240, 253, 254
2 Node ID by HW
BOOL R - Always 1
1F98 0 Cycle timing U8 R 9 Number of entries
1 Isochr Tx Max Payload
U16 R - Device-specific upper limit for the payload data size in octets of isochronous messages to be transmitted by the device.Range: 36…1490
2 Isochr Rx Max Payload
U16 R - Device-specific upper limit for the payload data size in octets of isochronous messages to be received by the device.Range: 36…1490
3 Pres Max Latency
U32 R - Maximum time in nanoseconds required by the CN to respond to PReq
4 PReq Act Payload Limit
U16 RW 36 Configured PReq payload data slot size in octets expected by the CN. The payload data slot size plus headers gives the size of the PReq frame. The data slot may be filled by PDO data up to this limit.Range: 36…subindex 2
Index SI Name Type Acc. Def. Information
118 Appendix A – CANopen Object Dictionary
5 Pres Act Payload Limit
U16 RW 36 Configured PRes payload data slot size in octets sent by the CN. The payload data slot size plus headers gives the size of the PRes frame. The data slot may be filled by PDO data up to this limit.Range: 36…subindex 1
6 ASnd Max Latency
U32 R - Maximum time in nanoseconds required by the CN to respond to SoA
7 Multiple cycle count
U8 RW 0 Length of the multiplexed cycle in multiples of the POWERLINK cycle
8 Async MTU U16 RW 300 Maximum asynchoronous frame size in octets.Set to 1500 on reset.Range: 300…1500
9 Prescaler U8 RW 2 Toggle rate of the SoC PS flag. The value is the number of cycles that have to be completed for the MN to toggle the flag. Range: 0…1000
1F99 0 Basic Ethernet Timeout
U32 RW 5000000 Time in microseconds to be applied before changing from NMT_CS_NOT_ACTIVE to NMT_CS_BASIC_ETHERNET
1F9E 0 Reset command
U8 RW NMTInvalidService
0xff: NMTInvalidService0x28: NMTResetNode0x2a: NMTResetConfiguration0x29: NMTResetCommunication0x2b: NMTSwReset
Index SI Name Type Acc. Def. Information
Appendix A – CANopen Object Dictionary 119
Manufacturer-specific profile objects
The manufacturer-specific profile objects contain the control and status words, references and actual values for the ABB Drives profile and the Transparent profiles, as well as diagnostic data. The objects are described in the following table.
Index SI Name Type Access Information
2001 0 T32 CW U32 RW 32-bit transparent profile control word
2002 0 T32 Ref1 I32 RW 32-bit transparent profile reference 1
2003 0 T32 Ref2 I32 RW 32-bit transparent profile reference 2
2004 0 T32 SW U32 R 32-bit transparent profile status word
2005 0 T32 Act1 I32 R 32-bit transparent profile actual 1
2006 0 T32 Act2 I32 R 32-bit transparent profile actual 2
2051 0 T16 CW U16 RW 16-bit transparent profile control word
2052 0 T16 Ref1 I16 RW 16-bit transparent profile reference 1
2053 0 T16 Ref2 I16 RW 16-bit transparent profile reference 2
2054 0 T16 SW U16 R 16-bit transparent profile status word
2055 0 T16 Act1 I16 R 16-bit transparent profile actual 1
2056 0 T16 Act2 I16 R 16-bit transparent profile actual 2
2101 0 ABB CW U16 RW ABB Drive profile control word
2102 0 ABB Ref1 I16 RW ABB Drives profile reference 1
2103 0 ABB Ref2 I16 RW ABB Drives profile reference 2
2104 0 ABB SW U16 R ABB Drives profile status word
2105 0 ABB Act1 I16 R ABB Drives profile actual 1
2106 0 ABB Act2 I16 R ABB Drives profile actual 2
120 Appendix A – CANopen Object Dictionary
2201 0 Vendor-specific fault code
U16 R
2203 0 Vendor-specific fault code
U16 R
Index SI Name Type Access Information
Appendix A – CANopen Object Dictionary 121
Actual signals and parameters of the drive
The actual signals and parameters available depend on the drive type. See the appropriate drive firmware manual for signal and parameter listings.
The Read service is used for reading actual signals and parameters from the drive. The Write service is used for writing parameter values to the drive. Both the Read and Write services use the same parameter mapping system. The Object Dictionary Index equals the drive parameter group in hexadecimal format + 4000 (hex) and the subindex is the parameter index. For example, the index for drive parameter 30.19 equals 1E (hex) + 4000 (hex) = 401E (hex) and the subindex = 19 (dec) = 13 (hex). The principle is demonstrated in the following table.
Note: Drive parameter values written through the network are not automatically saved to the permanent memory of the drive. The values should be saved on the drive to retain the changes after a power cycle.
Index (hex)
Sub-index
Name Type Access Information
4001 1 Drive signal 1.01 1) 2) 3)
2 Drive signal 1.02 1) 2) 3)
… … … … … …
4002 1 Drive signal 2.01 1) 2) 3)
… … … … … …
4003 1 Drive signal 3.01 1) 3)
… … … … … …
400A 1 Drive par. 10.01 1) 2) 3)
2 Drive par. 10.02 1) 2) 3)
… … … … … …
400B 1 Drive par. 11.01 1) 2) 3)
… … … … … …
4063 1 Drive par. 99.01 1) 2) 3)
… … … … … …
Subindex 0 = number of mapped objects.1) U16, INT16, U32 or INT32.2) Depends on the parameter type of the drive.3) See the appropriate drive firmware manual.
122 Appendix A – CANopen Object Dictionary
CiA 402 profile objects
The CiA 402 profile objects describe objects for monitoring and controlling frequency controllers. The objects are described in the following table.
Index SI Name Type Acc. Def. Information
603F 0 Error code U16 R 0 CiA 402 error code of the last error which occurred in the drive. Values according to IEC 61800-7-201. Manufacturer-specific error codes 0xFF00...0xFFFF: In general, all drive fault codes from 0xFF00 and above pass straight through into this object. Two error codes are generated by the adapter module:• 0xFFE1: Failed to read
fault code from the drive.• 0xFFFF: Unhandled drive
fault code - corresponding CiA 402 error code does not exist.
See object 2201 and the drive manual.
6040 0 Control word U16 RW - CiA 402 control word
6041 0 Status word U16 R - CiA 402 status word
6042 0 vl target velocity
I16 RW - Effective in the velocity operation mode (vl)
6043 0 vl velocity demand
I16 R - Operational if the ramp function generator output (CI 61) is available from the drive. Cyclic low priority communication.Note: Not available with ACS355.
6044 0 vl velocity actual value
I16 R - Operational when velocity feedback is available from the drive
Appendix A – CANopen Object Dictionary 123
6046 0 vi velocity min max amount
I8 R 2 Minimum and maximum velocity absolute value settings for the velocity operation mode (vl)
1 min abs velocity
U32 RW - Velocity absolute value minimum
2 max abs velocity
U32 RW - Velocity absolute value maximum
6048 0 vl velocity acceleration
I8 R 2 Acceleration ramp settings for the velocit6y operation mode (vl)
1 Delta speed U32 RW - Ramp delta speed (vl scaling units).Note: Read only in ACS355 and ACS880.
2 Delta time U16 RW - Ramp delta time (s)
6049 0 vl velocity deceleration
I8 R 2 Deceleration ramp settings for the velocity operation mode (vl)
1 Delta speed U32 RW - Ramp delta speed (vl scaling units).Note: Read only in ACS355 and ACS880.
2 Delta time U16 RW - Ramp delta time (s)
604A 0 vl velocity quick stop
I8 R 2 Quick stop ramp settings for the velocity operation mode (vl)
1 Delta speed U32 RW - Ramp delta speed (vl scaling units).Note: Read only in ACS355 and ACS880.
2 Delta time U16 RW - Ramp delta time (s)
604C 0 vl dimension factor
I8 R 2 Velocity data scaling factor for the velocity operation mode (vl). Basic unit in the vl operation mode is rpm.
1 numerator I32 RW - Default: 1
2 denominator I32 RW - Default: 1
605B 0 Shutdown option code
I16 RW 0 0 = coast stop (default)1 = ramp stop
Index SI Name Type Acc. Def. Information
124 Appendix A – CANopen Object Dictionary
605C 0 Disable operation code
I16 RW 1 0 = coast stop1 = ramp stop (default)
605D 0 Halt option code
I16 RW 1 vl mode.1 = force ramp generator input to zero (default)2…4 = force ramp generator output to zeroNote: Halt does not cause the drive to stop, merely to run at a zero speed.
6060 0 Modes of operation
I8 RW - CiA 402 operation mode request.0 = No mode change (default)1 = Profile position mode (pp)2 = Velocity mode (vl)3 = Profile velocity mode (pv)4 = Profile torque mode (tq)6 = Homing mode (hm)Note: The supported modes depend on the drive.
6061 0 Modes of operation display
I8 R - Current operation mode
6064 0 Position actual value
I32 R - Operational when position feedback is available from the drive
6069 0 Velocity sensor actual value
I32 R - Describes the value read from a velocity encoder.
606A 0 Sensor selection code
I16 RW -
606B 0 Velocity demand value
I32 R - Operational if the ramp function generator output is available from the drive. Cyclic low priority communication.Note: Not available with ACS355.
606C 0 Velocity actual value
I32 R - Operational when velocity feedback is available from the drive
6071 0 Target torque I16 RW 0 Input value for the torque controller in the profile torque (tq) mode
Index SI Name Type Acc. Def. Information
Appendix A – CANopen Object Dictionary 125
6076 0 Motor rated torque
U32 RW 0 Nominal torque of the motor in Nm
6077 0 Torque actual value
I16 R 0 Operational when torque feedback is available from the drive
6078 0 Current actual value
I16 R 0 Actual output current
607A 0 Target position I32 RW - The commanded position that the drive should move to. Operational in the profile position (pp) mode.
6081 0 Profile velocity U32 RW - Velocity normally attained at the end of the acceleration ramp during a profiled move. Cyclic low priority communication.
6087 0 Torque slope U32 RW - Effective in the profile torque (tq) operation mode. Unit: 0.1% / s.
6088 0 Torque profile type
I16 RW 0 Only 0 = Linear ramp (trapezoidal profile) is supported.
6098 0 Homing method
I8 RW 0 CiA 402 homing methods. See the drive manual for more information on the supported homing modes.• -128…-1: Manufacturer-
specific• 0: No homing operation
required• 1…35: Methods 1 to 35 • 36…127: Reserved
6099 0 Homing speeds
U8 R 2 Speeds during the homing procedure
1 Speed during search for switch
U32 RW 0 ACSM1 homing speed 1
2 Speed during search for zero
U32 RW 0 ACSM1 homing speed 2
60FD 0 Digital inputs U32 R - Drive-specific
Index SI Name Type Acc. Def. Information
126 Appendix A – CANopen Object Dictionary
60FE 0 Digital outputs U8 R - Number of entries
1 Physical outputs
U32 RW - Drive-specific
2 Bitmask U32 RW - Drive-specific
60FF 0 Target velocity I32 RW Rx Effective in the profile velocity (pv) operation mode
Index SI Name Type Acc. Def. Information
Appendix B – CANopen error codes 127
12Appendix B – CANopen error codes
What this chapter contains
This chapter contains a list of the CANopen error codes.
Error codes
Error codes can be read from objects 0×2201 and 0×603F (hex). Additionally, the MN can query the status of the CN with the StatusResponse service. See section Network Management Services on page 98.
Error codes between xx80…xxFF (hex) and between FF00…FFFF (hex) are manufacturer specific. Descriptions for these error codes can be found in the appropriate drive firmware manual and/or the drive fault code parameter.
Error code (hex) Meaning
0000 Error reset or no error
1000 Generic error
2000 Current
2100 Current on device input side
2110 Short circuit / earth leakage
2120 Earth leakage
128 Appendix B – CANopen error codes
2121 Earth leakage phase L1
2122 Earth leakage phase L2
2123 Earth leakage phase L3
2130 Short circuit
2131 Short circuit phases L1-L2
2132 Short circuit phases L2-L3
2133 Short circuit phases L3-L1
2200 Internal current
2211 Internal current No. 1
2212 Internal current No. 2
2213 Overcurrent in ramp function
2214 Overcurrent in the sequence
2220 Continuous overcurrent
2221 Continuous overcurrent No. 1
2222 Continuous overcurrent No. 2
2230 Short circuit / earth leakage
2240 Earth leakage
2250 Short circuit
2300 Current on device output side
2310 Continuous overcurrent
2311 Continuous overcurrent No. 1
2312 Continuous overcurrent No. 2
2320 Short circuit / earth leakage
2330 Earth leakage
2331 Earth leakage phase U
2332 Earth leakage phase V
2333 Earth leakage phase W
2340 Short circuit
2341 Short circuit phases U-V
Error code (hex) Meaning
Appendix B – CANopen error codes 129
2342 Short circuit phases V-W
2343 Short circuit phases W-U
3000 Voltage
3100 Mains voltage
3110 Mains overvoltage
3111 Mains overvoltage phase L1
3112 Mains overvoltage phase L2
3113 Mains overvoltage phase L3
3120 Mains undervoltage
3121 Mains undervoltage phase L1
3122 Mains undervoltage phase L2
3123 Mains undervoltage phase L3
3130 Phase failure
3131 Phase failure L1
3132 Phase failure L2
3133 Phase failure L3
3134 Phase sequence
3140 Mains frequency
3141 Mains frequency too great
3142 Mains frequency too small
3200 DC link voltage
3210 DC link overvoltage
3211 Overvoltage No. 1
3212 Overvoltage No. 2
3220 DC link undervoltage
3221 Undervoltage No. 1
3222 Undervoltage No. 2
3230 Load error
3300 Output voltage
Error code (hex) Meaning
130 Appendix B – CANopen error codes
3310 Output overvoltage
3311 Output overvoltage phase U
3312 Output overvoltage phase V
3313 Output overvoltage phase W
3320 Armature circuit
3321 Armature circuit interrupted
3330 Field circuit
3331 Field circuit interrupted
4000 Temperature
4100 Ambient temperature
4110 Excess ambient temperature
4120 Too low ambient temperature
4130 Temperature supply air
4140 Temperature air outlet
4200 Temperature device
4210 Excess temperature device
4220 Too low temperature device
4300 Temperature drive
4310 Excess temperature drive
4320 Too low temperature drive
4400 Temperature supply
4410 Excess temperature supply
4420 Too low temperature supply
5000 Device hardware
5100 Supply
5110 Supply low voltage
5111 U1 = supply +/-15 V
5112 U2 = supply +24 V
5113 U3 = supply +5 V
Error code (hex) Meaning
Appendix B – CANopen error codes 131
5114 U4 = manufacturer specific
5115 U5 = manufacturer specific
5116 U6 = manufacturer specific
5117 U7 = manufacturer specific
5118 U8 = manufacturer specific
5119 U9 = manufacturer specific
5120 Supply intermediate circuit
5200 Control
5210 Measurement circuit
5220 Computing circuit
5300 Operating unit
5400 Power section
5410 Output stages
5420 Chopper
5430 Input stages
5440 Contactors
5441 Contactor 1 = manufacturer specific
5442 Contactor 2 = manufacturer specific
5443 Contactor 3 = manufacturer specific
5444 Contactor 4 = manufacturer specific
5445 Contactor 5 = manufacturer specific
5450 Fuses
5451 S1 = L1
5452 S2 = L2
5453 S3 = L3
Error code (hex) Meaning
132 Appendix B – CANopen error codes
5454 S4 = manufacturer specific
5455 S5 = manufacturer specific
5456 S6 = manufacturer specific
5457 S7 = manufacturer specific
5458 S8 = manufacturer specific
5459 S9 = manufacturer specific
5500 Data storage
5510 Working memory
5520 Program memory
5530 Non-volatile data memory
6000 Device software
6010 Software reset (Watchdog)
6100 Internal software
6200 User software
6300 Data record
6301 Data record No. 1
… from 2…14 corresponding
630F Data record No. 15
6310 Loss of parameters
6320 Parameter error
6330 Ethernet POWERLINK module configuration error
7000 Additional modules
7100 Power
7110 Brake chopper
7111 Failure brake chopper
7112 Overcurrent brake chopper
7113 Protective circuit brake chopper
7120 Motor
Error code (hex) Meaning
Appendix B – CANopen error codes 133
7121 Motor blocked
7122 Motor error or communication malfunc.
7123 Motor tilted
7200 Measurement circuit
7300 Sensor
7301 Tacho fault
7302 Tacho wrong polarity
7303 Resolver 1 fault
7304 Resolver 2 fault
7305 Incremental sensor 1 fault
7306 Incremental sensor 2 fault
7307 Incremental sensor 3 fault
7310 Speed
7320 Position
7400 Computation circuit
7500 Communication
7510 Serial interface no. 1
7520 Serial interface no. 2
7600 Data storage
8000 Monitoring
8100 Communication
8300 Torque control
8311 Excess torque
8312 Difficult start up
8313 Standstill torque
8321 Insufficient torque
8331 Torque fault
8400 Rotational speed controller
Error code (hex) Meaning
134 Appendix B – CANopen error codes
8500 Position controller
8600 Positioning controller
8611 Following error
8612 Reference limit
8700 Sync controller
8800 Winding controller
9000 External error
F000 Additional functions
F001 Deceleration
F002 Sub-synchronous run
F003 Stroke operation
F004 Control
FF00 Manufacturer specific
… …
FFFF Manufacturer specific
Error code (hex) Meaning
Appendix C – IdentResponse Frame 135
13Appendix C – IdentResponse Frame
What this chapter contains
This chapter contains the contents of the IdentResponse Frame.
136 Appendix C – IdentResponse Frame
NMT Service Slot structure of IdentResponse
Octet offset Bit offset
7 6 5 4 3 2 1 0
0 res res res res res res res res
1 PR RS
2 NMTStatus
3 Reserved
4 EPLVersion
5 Reserved
6…9 FeatureFlags
10…11 MTU
12…13 PollInSize
14…15 PollOutSize
16…19 ResponseTime
20…21 Reserved
22…25 DeviceType
26…29 VendorID
30…33 ProductCode
34…37 RevisionNumber
38…41 SerialNumber
42…49 VendorSpecificExtension1
50…53 VerifyConfigurationDate
54…57 VerifyConfigurationTime
58…61 ApplicationSwDate
62…65 ApplicationSwTime
66…69 IPAddress
70…73 SubnetMask
74…77 DefaultGateway
78…109 HostName
110…157 VendorSpecificExtension2
Appendix C – IdentResponse Frame 137
NMT Service Slot data fields of IdentResponse
Field Abbr. Description
Priority PR Flags: Indicates the priority of the requested asynchronous frame (see 4.2.4.1.2.3)
RequestToSend RS Flags: Indicates the number of pending requests to send at the CN. The value C_DLL_MAX_RS indicates C_DLL_MAX_RS or more requests, 0 indicates no pending requests.Values: 0…C_DLL_MAX_RS
NMTStatus stat Reports the current status of the CN’s NMT state machine.
EPLVersion eplv Indicates the POWERLINK version to which the CN conforms.
FeatureFlags feat Reports the feature flags of the device. (NMT_FeatureFlags_U32)
MTU mtu Reports the size of the largest IP frame that can be transmitted over the network, including the size of the transport header.Values: C_DLL_MIN_ASYNC_MTU…C_DLL_MAX_ASYNC_MTU
PollInSize pis Reports the actual CN setting for PReq datablock size (NMT_CycleTiming_REC.PReqActPayloadLimit_U16).
PollOutSize pos Reports the actual CN setting for PReq datablock size (NMT_CycleTiming_REC.PReqActPayloadLimit_U16).
ResponseTime rst Reports the time required by the CN to respond to PReq. (NMT_CycleTiming_REC.PResMaxLatency_U32)
138 Appendix C – IdentResponse Frame
DeviceType dt Reports the CN’s Device Type. (NMT_DeviceType_U32)
VendorID vid Reports the CN’s Vendor ID, index. (NMT_IdentityObject_REC.Vendorid_U32)
ProductCode prdc Reports the CN’s Product Code, index. (NMT_IdentityObject_REC.ProductCode_U32)
RevisionNumber mo Reports the CN’s Revision Number. (NMT_IdentityObject_REC.RevisionNo_U32)
SerialNumber sno Reports the CN’s Serial Number. (NMT_IdentityObject_REC.SerialNo_U32)
VendorSpecificExtension1 vex1 May be used for vendor-specific purpose, to be filled with zeros if not in use.
VerifyConfigurationDate vcd Reports the CN’s Configuration date (CFM_VerifyConfiguration_REC.ConfDate_U32)
VerifyConfigurationTime vct Reports the CN’s Configuration time. (CFM_VerifyConfiguration_REC.ConfTime_U32)
ApplicationSWDate ad Reports the CN’s Application SW date. (PDL_LocVerApplSw_REC.ApplSwDate on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device)
ApplicationSWTime at Reports the CN’s Application SW date. (PDL_LocVerApplSw_REC.ApplSwTime on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device)
Field Abbr. Description
Appendix C – IdentResponse Frame 139
IPAddress ipa Reports the current IP address value of the CN. (NWL_IpAddrTable_Xh_REC.Addr_IPAD)
SubnetMask snm Reports the current IP subnet mask value of the CN. (NWL_IpAddrTable_Xh_REC.NetMask_IPAD)
DefaultGateway gtw Reports the current IP default gateway value of the CN. (NWL_IpAddrTable_Xh_REC.DefGateway_IPAD)
HostName hn Reports the current DNS host name of the CN. (NMT_HostName_VSTR)
VendorSpecificExtension2 vex2 May be used for vendor-specific purpose, to be filled with zeros if not in use.
Field Abbr. Description
—Further information
Product and service inquiriesAddress any inquiries about the product to your local ABB representative, quoting the type designation and serial number of the unit in question. A listing of ABB sales, support and service contacts can be found by navigating to abb.com/searchchannels.
Product trainingFor information on ABB product training, navigate to new.abb.com/service/training.
Providing feedback on ABB manualsYour comments on our manuals are welcome. Navigate to new.abb.com/drives/manuals-feedback-form.
Document library on the InternetYou can find manuals and other product documents in PDF format on the Internet at abb.com/drives/documents.